|
Original research IMPROVING ACTIVE DISTURBANCE REJECTION DRC CONTROL FOR ROBOTICS HOME-BASED TO LOWER EXTREMITY REHABILITATION CAREPages 67-74 Nasir Alawad, Amjad Humaidi, Ahmed Alaraji Abstract This study is intended to be used as a fundamental guideline for developing locally established restoration frameworks for exoskeletons (Robotics), particularly in the event of the COVID-19 pandemic. This work describes a one-degree-of-freedom exoskeleton-leg dynamic demonstration and control recreation (automated knee joined with sitting level). The linear active disturbance rejection control (LADRC) and the corresponding proportional-derivative-integral (PID) controller for position and speed control are the two regulators that make up the control structure. The findings of the MATLAB reconstruction reveal that the proposed regulator (LADRC) has a respectable potential for providing scheduled recovery treatment to reduce appendages, particularly for direction following error. The results of the proposed controller (LADRC) demonstrate quicker reactions with settling time and steady-state error are very small. Keywords: Exoskeleton system, ADRC controller, PID controller, Robustness, Tracking performance
|
PDF 