Improved Active Disturbance Rejection Control for the Knee Joint Motion Model

This work focuses on design of trajectory-tracking control based active disturbance rejection (ADRC) controller for knee joint exoskeleton device. The device is worn by disable patients and it actuated ADRC to perform the exercises prescribed physician doctor rehabilitation humanoid's lower limb. In order improve tracking performance robustness characteristics ADRC, minor modification has been made in its structure, which represented adding feed forward signal reference angular acceleration. numerical simulations via MATLAB software environment have conducted with various model uncertainties external disturbances assess modified scheme. proposed showed improvement trajectory error, exerted disturbances, against parameter uncertainties.