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Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation

Arceo Juan Carlos, Alvarez Jorge, Armenta Carlos, Lauber Jimmy, Cremoux Sylvian, Simoneau-Buessinger Emilie, Bernal Miguel

Archives of Control Sciences

2021

Vol. 31, No. 1

5--27

In this report, ankle rehabilitation routines currently approved by physicians are implemented via novel control algorithms on a recently appeared robotic device known as the motoBOTTE. The physician specifications for gait cycles are translated into robotic trajectories whose tracking is performed twofold depending on the availability of a model: (1) if obtained via the Euler-Lagrange approach along with identification of unknown plant parameters, a new computed-torque control law is proposed; it takes into account the parallel-robot characteristics; (2) if not available, a variation of the active disturbance rejection control technique whose parameters need to be tuned, is employed. A detailed discussion on the advantages and disadvantages of the model-based and model-free results, from the continuous-time simulation to the discrete-time implementation, is included.

Tracking control for a cascade perturbed control system using the active disturbance rejection paradigm

Patelski Radosław, Pazderski Dariusz

Archives of Control Sciences

2019

Vol. 29, No. 2

378--408

In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which describes dynamics of the input. The main theoretical result establishes the conditions for Lyapunov stability formulated for the perturbed cascade control structure taking advantage of the active rejection disturbance approach. In particular, limitations imposed on a feasible set of an observer bandwidth are discussed. In order to illustrate characteristics of the closed-loop control system simulation results are presented. Furthermore, the particular implementation of the cascade control algorithm is verified experimentally using a two-axis telescope mount. The obtained results confirm that the considered control strategy can be efficiently applied for a class of mechanical systems when a high position tracking precision is required.