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All Journal Indonesian Journal of Science and Technology Indonesian Journal of Electrical Engineering and Computer Science
Ahmed Sabah Alaraji
University of Technology
Computer Science & IT Environmental Science

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Active Disturbance Rejection Control of Wearable Lower-Limb System Based on Reduced ESO Nasir Ahmed Alawad; Amjad J. Humaidi; Abdulkareem Sh. Mahdi Al-Obaidi; Ahmed Sabah Alaraji
Indonesian Journal of Science and Technology Vol 7, No 2 (2022): IJOST: VOLUME 7, ISSUE 2, September 2022
Publisher : Universitas Pendidikan Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.17509/ijost.v7i2.46435

Abstract

Wearable robots are commonly used for rehabilitation and they are made to fit the human body to assist persons who are unable to help themselves. The design of controllers became necessary to enhance the dynamic motion of these exoskeleton systems when worn by patients. In this study, active disturbance rejection control (ADRC) with reduced-order extended state observer (RESO) has been proposed for motion control of exoskeleton knee-assisting device to eliminate the phase lag induced by full-order extended state observer (FESO). The design analysis of RESO-based ADRC has been presented and a computer simulation has been conducted to verify the effectiveness of the proposed controller. A comparison study has been made between ADRC based on RESO and that based on FESO in terms of transient and robustness characteristics. The simulated results showed that the RESO-based ADRC gives better transient and load rejection capabilities compared to the controller with FESO.
Fractional proportional derivative-based active disturbance rejection control of knee exoskeleton device for rehabilitation care Nasir Ahmed Alawad; Amjad Jaleel Humaidi; Ahmed Sabah Alaraji
Indonesian Journal of Electrical Engineering and Computer Science Vol 28, No 3: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v28.i3.pp1405-1413

Abstract

The use of rehabilitation exoskeleton by physiotherapists in their daily practice is becoming more common. In this study, the active disturbance rejection controller (ADRC) is proposed to ensure high performance of trajectory tracking for asstitve exoskeleton at the level of knee-joint. The controlled medical robot has to mimic the actual physical training and application for knee-rehabilitation. Two versions of ADRC is presented to control the rehabilitation system. One version is based on conventional ADRC, while the other version is based on fractional proportional-derivative PD-ADRC. A comparison study in performance has been conducted between two versions of ADRCs in terms of robustness against disturbances. According to numerical simulations, the results showed that the fractional PD-based ADRC ouptperforms the ADRC in terms of robustness characteritics based on the index root mean square error (RMSE).
Co-Authors Abdulkareem Sh. Mahdi Al-Obaidi Amjad J. Humaidi Amjad Jaleel Humaidi Nasir Ahmed Alawad Nasir Ahmed Alawad