Robust Adaptive Feedback Linearization Control of Human Exoskeletons

Abstract

In this paper, an adaptive feedback linearization controller has been proposed to control a robotic orthosis system associated to paraplegic kids. The main idea is to control the hip and knee joints of the exoskeleton, based on the feedback linearization theory aiming to increase the brain plasticity. In fact, the controller law has been developed in order to transform the nonlinear dynamic system into a linear dynamic one, where all parameters are fixed and well known. The obtained controller is not robust against parameter variations. For this reason an adaptive approach is proposed to deal with the case of unkown parameters. Simulation results demonstrate that this controller provides a good tracking of the desired trajectories.