Position control of electro-hydraulic servo system using active disturbance rejection control for upper-limb exoskeleton

Abstract

This paper presents a two-degree-of-freedom(2-DOF) upper-limb exoskeleton actuated by electro-hydraulic servo system (EHSS), and position control based on active disturbance rejection control (ADRC) strategy. Proportional integral derivative (PID) controller is widely used in EHSS system because it is model free, and its parameters can be adjusted easily. However, the nonlinear dynamics of EHSS is subject to parameter variations and friction effects during operation. The trajectory tracking performance of this method is limited due to the uncertain model parameter and external disturbance of EHSS in exoskeleton. To actively compensate the total disturbance including the system uncertainty and external disturbance, and ensure the finite time convergence of disturbances, the ADRC controller is developed. The disturbances can be estimated by the extended state observer (ESO) and compensated during each sampling period in the ADRC method. The proposed control strategy not only satisfies the steady-state accuracy demands, but also effectively resists to the system uncertainties and the disturbance. To validate the feasibility of the proposed control strategy, the simulations were carried out. The numerical simulation results clearly indicate the superior performance of proposed ADRC method over the regular PID control approach.