Barrier function-based prescribed performance trajectory tracking control of wheelchair upper-limb exoskeleton robot under actuator fault and external disturbance: Experimental verification.

This paper presents an innovative control strategy for the trajectory tracking of wheelchair upper-limb exoskeleton robots, integrating sliding mode control with a barrier function-based prescribed performance approach to handle actuator faults and external disturbances. The dynamic model of the exoskeleton robot is first extended to account for these uncertainties. The control design is then divided into two phases.