Figure 2
From: Disturbance rejection model predictive control of lower limb rehabilitation exoskeleton
Control flow diagram of the co-simulation model. The deviation between the ESO estimated position and the reference position, combining with the total disturbance also obtained by ESO estimation, is substituted into the MPC controller to obtain the optimal control torque. The control quantity is input into the exoskeleton dynamics model to obtain the actual position, which is feed back to the controller to form a closed loop control system.
