Zhang Dynamics based Tracking Control of Knee Exoskeleton with Timedependent Inertial and Viscous Parameters

  • Zhan Li
  • Ziguang Yin
Regular Paper Robot and Applications


Knee exoskeleton plays an important role in robot-assisted rehabilitation for impaired pilots to restore their motor functionality of lower extremity through producing external movement compensation. Tracking control of knee exoskeleton often encounters time-dependent (time-varying) issues reflected in its dynamic behaviors. In many applications, inertial and viscous parameters of knee exoskeletons are measured to be time-dependent due to unexpected mechanical vibrations and contact interactions, which increases difficultly of accurate control of knee exoskeleton to follow desired joint angle trajectories. This paper proposes a novel control strategy for controlling knee exoskeleton with time-dependent (time-varying) inertial and viscous coefficients. Such controller is designed based on Zhang dynamics (ZD) method and utilizes twice Zhang function (ZF) so as to make the tracking error of joint angle exponentially converge to zero. Illustrative simulation examples and experimental validation are presented to show efficiency of this type of controller based on ZD method. Comparisons with gradient dynamic (GD) approach are also presented to demonstrate superiority of ZD-type control strategy for tracking joint angle of knee exoskeleton.


Exoskeleton gradient dynamics (GD) time-dependent time-varying tracking control Zhang dynamics (ZD) 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Automation EngineeringUniversity of Electronic Science and Technology of ChinaChengduChina

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