Abstract

This paper investigates the fixed-time tracking control strategy for a wearable upper-limb exoskeleton under bounded disturbances. A 5 DOF (degree of freedom) model is firstly derived by Lagrange method. Then the fixed-time controller with a novel sliding surface is constructed which can ensure that both the reaching time and settling time of the closed-system are independent of the initial system conditions. In order to guarantee the tracking performance under bounded disturbances, a nonlinear disturbance observer is utilized to estimate the exact values of the disturbances and compensate the controller in fixed-time. Finally, the comprehensive control strategy is utilized to achieve the excellent tracking performance and simulations are presented to illustrate the effectiveness of the control strategies.

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