Event-Triggered Sliding Mode Impulsive Control for Lower Limb Rehabilitation Exoskeleton Robot Gait Tracking

Lower limb rehabilitation exoskeleton robots (LLRERs) play an important role in lower training and assistance walking for patients with movement disorders. In order to reduce eliminate adverse effects on the accuracy of human motion gait tracking during LLRER, which is caused by gravity friction, periodic ground shock force, human–exoskeleton interaction this paper proposes a feedforward–feedback hybrid control strategy sliding mode impulsive friction compensation, based event-triggered mechanism Lyapunov function. Firstly, realize high-precision bounded error, some constraints controller parameters are deduced analyzing Lyapunov-based stability. Secondly, Zeno behavior event triggers excluded analysis three different cases triggering time sequence. Finally, effectiveness proposed verified numerical simulation LLRER integrated system three-link simplified model. It shows that compensation can achieve complete error has excellent dynamic performance under constraints.