Publications by authors named "Ahmed S Alaraji"
An Acad Bras Cienc
June 2023
Article Synopsis
- A hybrid control strategy combining active disturbance rejection control (ADRC) and sliding mode control (SMC) is introduced to enhance the tracking performance of lower limb exoskeletons for rehabilitation in individuals with lower limb weakness.
- The dynamic modeling of lower limb movement is developed, and numerical simulations demonstrate that the proposed controller outperforms traditional ADRC methods based on proportional-derivative control.
- The results indicate that the sliding mode-based ADRC significantly reduces chattering, offers better rejection capability, faster tracking behavior, and requires less control effort compared to conventional control strategies.
