Robust control method for exoskeleton based on predetermined time stabilization
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHEJIANG UNIV OF TECH
- Filing Date
- 2026-06-15
- Publication Date
- 2026-07-17
AI Technical Summary
Existing exoskeleton robot control methods suffer from excessively large initial control inputs in the initial state, leading to shortened actuator lifespan or loss of control. Furthermore, traditional disturbance observer estimation errors converge slowly, affecting system robustness and safety.
A novel predetermined time stability criterion is proposed, and a predetermined time robust control method is designed. By combining a predetermined time disturbance observer to quickly estimate and compensate for unknown uncertainties and human-computer interaction forces in the exoskeleton system, a robust controller is developed through backstepping technology to ensure that the trajectory tracking error converges to a small region near zero within a predetermined time.
This system enables rapid and accurate trajectory tracking of the exoskeleton system within a predetermined time, reduces the problem of excessive initial control input, improves the robustness, stability, and safety of the system, and meets the requirements for rapid response.
Smart Images
Figure CN122411076A_ABST