Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design Approach
This study focuses on developing a control methodology for exoskeleton robots designed for lower limb rehabilitation, specifically addressing the needs of elderly individuals and pediatric therapy. The approach centers on implementing an affine state-feedback controller to effectively regulate and s...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/15/1/404 |
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| author | Sahar Jenhani Hassène Gritli Jyotindra Narayan |
| author_facet | Sahar Jenhani Hassène Gritli Jyotindra Narayan |
| author_sort | Sahar Jenhani |
| collection | DOAJ |
| description | This study focuses on developing a control methodology for exoskeleton robots designed for lower limb rehabilitation, specifically addressing the needs of elderly individuals and pediatric therapy. The approach centers on implementing an affine state-feedback controller to effectively regulate and stabilize the knee-joint exoskeleton robot at a desired position. The robot’s dynamics are nonlinear, accounting for unknown parameters, solid and viscous frictions, and external disturbances. To ensure robust stabilization, the Lyapunov approach is utilized to derive a set of Linear Matrix Inequality (LMI) conditions, guaranteeing the stability of the position error. The derivation of these LMI conditions is grounded in a comprehensive theoretical framework that employs advanced mathematical tools, including the matrix inversion lemma, Young’s inequality, the Schur complement, the S-procedure, and specific congruence transformations. Simulation results are presented to validate the proposed LMI conditions, demonstrating the effectiveness of the control strategy in achieving robust and accurate positioning of the lower limb rehabilitation exoskeleton robotic system. |
| format | Article |
| id | doaj-art-b32fd2b73a37447282db67f66c2afb72 |
| institution | Kabale University |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-b32fd2b73a37447282db67f66c2afb722025-01-10T13:15:26ZengMDPI AGApplied Sciences2076-34172025-01-0115140410.3390/app15010404Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design ApproachSahar Jenhani0Hassène Gritli1Jyotindra Narayan2Laboratory of Robotics, Informatics and Complex Systems (RISC Lab, LR16ES07), National Engineering School of Tunis, University of Tunis El Manar, BP. 37, Le Belvédère, Tunis 1002, TunisiaLaboratory of Robotics, Informatics and Complex Systems (RISC Lab, LR16ES07), National Engineering School of Tunis, University of Tunis El Manar, BP. 37, Le Belvédère, Tunis 1002, TunisiaDepartment of Mechanical Engineering, Thapar Institute of Engineering and Technology, Patiala 147004, Punjab, IndiaThis study focuses on developing a control methodology for exoskeleton robots designed for lower limb rehabilitation, specifically addressing the needs of elderly individuals and pediatric therapy. The approach centers on implementing an affine state-feedback controller to effectively regulate and stabilize the knee-joint exoskeleton robot at a desired position. The robot’s dynamics are nonlinear, accounting for unknown parameters, solid and viscous frictions, and external disturbances. To ensure robust stabilization, the Lyapunov approach is utilized to derive a set of Linear Matrix Inequality (LMI) conditions, guaranteeing the stability of the position error. The derivation of these LMI conditions is grounded in a comprehensive theoretical framework that employs advanced mathematical tools, including the matrix inversion lemma, Young’s inequality, the Schur complement, the S-procedure, and specific congruence transformations. Simulation results are presented to validate the proposed LMI conditions, demonstrating the effectiveness of the control strategy in achieving robust and accurate positioning of the lower limb rehabilitation exoskeleton robotic system.https://www.mdpi.com/2076-3417/15/1/404knee exoskeleton robotrehabilitationrobust position controlaffine state-feedback controlLMI conditionLyapunov approach |
| spellingShingle | Sahar Jenhani Hassène Gritli Jyotindra Narayan Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design Approach Applied Sciences knee exoskeleton robot rehabilitation robust position control affine state-feedback control LMI condition Lyapunov approach |
| title | Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design Approach |
| title_full | Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design Approach |
| title_fullStr | Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design Approach |
| title_full_unstemmed | Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design Approach |
| title_short | Robust Position Control of a Knee-Joint Rehabilitation Exoskeleton Using a Linear Matrix Inequalities-Based Design Approach |
| title_sort | robust position control of a knee joint rehabilitation exoskeleton using a linear matrix inequalities based design approach |
| topic | knee exoskeleton robot rehabilitation robust position control affine state-feedback control LMI condition Lyapunov approach |
| url | https://www.mdpi.com/2076-3417/15/1/404 |
| work_keys_str_mv | AT saharjenhani robustpositioncontrolofakneejointrehabilitationexoskeletonusingalinearmatrixinequalitiesbaseddesignapproach AT hassenegritli robustpositioncontrolofakneejointrehabilitationexoskeletonusingalinearmatrixinequalitiesbaseddesignapproach AT jyotindranarayan robustpositioncontrolofakneejointrehabilitationexoskeletonusingalinearmatrixinequalitiesbaseddesignapproach |