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super-twisting observer algorithm

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Hybrid Adaptive Robust Control Based on CPG and ZMP for a Lower Limb Exoskeleton
Majid Mokhtari, Mostafa Taghizadeh, Mahmood Mazare
Journal:

Robotica / Volume 39 / Issue 2 / February 2021

Published online by Cambridge University Press:

02 June 2020, pp. 181-199
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In this paper, hybrid control of central pattern generators (CPGs), along with an adaptive supper-twisting sliding mode (ASTSM) control based on supper-twisting state observer, is proposed to guard against disturbances and uncertainties. Rhythmic and coordinated signals are generated using CPGs. In addition, to overcome the chattering of conventional sliding mode, supper-twisting sliding mode has been applied. The ASTSM method triggers sliding variables, and its derivatives tend to zero continuously in the presence of the uncertainties. Moreover, to acquire maximum stability, the desired trajectory of the upper limb based on zero moment point criterion is designed.