Exoskeleton decoupling control method based on fixed time expansion state observer

By using a fixed-time extended state observer and a non-singular terminal sliding mode controller, the coupling nonlinearity problem in the exoskeleton robot system is solved, achieving fast response and high-precision control, simplifying the parameter adjustment process, and improving the robustness and stability of the system.

CN121069759APending Publication Date: 2025-12-05DEQING COUNTY ZHEJIANG UNIV OF TECH MOGANSHAN RES INST
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Patent Information

Application Number
CN202511158904.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-08-19
Publication Date
2025-12-05

AI Technical Summary

Technical Problem

In the existing technology, it is difficult to effectively solve the problem of nonlinear coupling between joints in the design of exoskeleton robots. In particular, the existing technology is difficult to effectively solve the problem of nonlinear coupling between joints in the exoskeleton robot system, which leads to complicated control method design and high consumption of computational resources.

Method used

A fixed-time extended state observer is used to quickly estimate unknown dynamic couplings and external disturbances in the exoskeleton system. Combined with feedforward compensation, a fixed-time non-singular terminal sliding mode controller is designed to achieve fast response and high-precision tracking control of the exoskeleton system.

Benefits of technology

This system achieves rapid response and high-precision tracking control of the exoskeleton system, improves the robustness and stability of the system, simplifies the parameter adjustment process, and reduces computational costs.

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Abstract

The invention discloses an exoskeleton decoupling control method based on a fixed time expansion state observer, and the method comprises the following steps: 1), building a dynamic model of a multi-input-multi-output exoskeleton robot, and extracting an unknown dynamic coupling part; 2) designing a fixed time extended state observer to estimate uncertain dynamic coupling and unknown external disturbance in the system, and performing compensation by adopting a feedforward mode; and 3) in combination with the observer, designing a fixed-time nonsingular terminal sliding mode controller to quickly track the expected trajectory of the exoskeleton so as to realize decoupling control of the exoskeleton system. According to the invention, for a multi-input multi-output exoskeleton robot system with model uncertainty, a fixed-time convergence decoupling control method is designed in combination with an extended state observer and a nonsingular terminal sliding mode controller; the robustness and the stability of the system are improved, and meanwhile, the tracking error of the system can be controlled at a low level within fixed time.
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