Reset control is known to overcome fundamental limitations of linear time-invariant systems by breaking the trade-off between transient speed and overshoot. However, when the plant exhibits fractional-order dynamics, conventional reset approaches fail, as the plant’s non-local memory is not erased by resetting the cont...
Inertial measurement units provide a low-cost sensing solution for knee exoskeleton joint angle estimation, but near-joint IMUs are susceptible to dynamic acceleration induced by link vibration and motion impacts. This paper proposes an adaptive Mahony-type complementary filtering method for sagittal-plane knee angle e...
Jin-Hong Li, Ying Luo, Xin-Xin Xiao et al.· IEEE/ASME International Conf...· 0 citations
Mechanical resonance limits the tracking bandwidth of flexible-transmission servo systems. This limitation stems from the coupling between rigid-body motion and flexible vibration, which gives rise to high-order dual-inertia dynamics and complicates direct controller synthesis. To represent the flexible-transmission dy...
Wei Ai, Tao Lin, Yi-Jian Su et al.· IEEE/ASME International Conf...· 0 citations
Low-line-inductance electrolytic-capacitor-free drive systems are expected to further exploit the advantages of power density and cost. However, this design makes grid current harmonics more difficult to suppress and compromises system stability, particularly under unbalanced grid voltages. To address this issue, this...
Jia-Hao Dong, Mei Zhang, Xiao-Hong Wang et al.· IEEE/ASME International Conf...· 0 citations
Traditional delayed output feedback control (DOFC) for hip exoskeletons provides a model-free and computationally efficient approach for gait assistance. However, fixeddelay DOFC is susceptible to phase mismatch under variable cadence conditions. To address this issue, a DOFC framework based on an adaptive frequency os...
