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Robust control based on Lyapunov stability theory for the joint modules in hip-assist exoskeleton robots

Part of: Recent advances in parallel and service robotics, from development to applications

Published online by Cambridge University Press:  13 October 2025

Xiaoli Liu Open the ORCID record for Xiaoli Liu [Opens in a new window] ,
Youli Hu ,
Faliang Wang Open the ORCID record for Faliang Wang [Opens in a new window] ,
Shengchao Zhen Open the ORCID record for Shengchao Zhen [Opens in a new window]  and
Ye-Hwa Chen
Xiaoli Liu
Affiliation:
School of Artificial Intelligence, Anhui University, Hefei, Anhui, PR China Human-Computer Collaborative Robot Joint Laboratory of Anhui Province, Hefei, Anhui, PR China
Youli Hu
Affiliation:
School of Artificial Intelligence, Anhui University, Hefei, Anhui, PR China
Faliang Wang*
Affiliation:
School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, PR China
Shengchao Zhen
Affiliation:
Human-Computer Collaborative Robot Joint Laboratory of Anhui Province, Hefei, Anhui, PR China School of Mechanical Engineering, Hefei University of Technology, Hefei, Anhui, PR China
Ye-Hwa Chen
Affiliation:
The Geroge W.Woodruf School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Georgia, USA
*
Corresponding author: Faliang Wang; Email: faliang941118@163.com
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Abstract

This paper presents a novel robust control method for a hip-assist exoskeleton robot’s joint module, addressing dynamic performance under variable loads. The proposed approach integrates traditional PID control with robust, model-based strategies, utilizing the system’s dynamic model and a Lyapunov-based robust controller to handle uncertainties. This method not only enhances traditional PID control but also offers practical advantages in implementation. Theoretical analysis confirms the system’s uniform boundedness and ultimate boundedness. A Matlab prototype was developed for simulation, demonstrating the control scheme’s feasibility and effectiveness. Numerical simulations show that the proposed fractional-order hybrid PD (FHPD) controller significantly reduces tracking error by 58.70% compared to the traditional PID controller, 55.41% compared to the MPD controller, and 32.32% compared to ADRC, highlighting its superior tracking performance and stability.

Keywords

hip-assist exoskeleton robotrobust controljoint moduledisc motorLyapunov method

Information

Type
Research Article
Information
Robotica , Volume 43 , Issue 11 , November 2025 , pp. 3959 - 3975
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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