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Showing 1 to 1 of 1 for “"Adaptive disturbance rejection"”.
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Design and control of an active ankle-foot orthosis
… and AAFO, two methods are proposed. First, an adaptive extended state observer is developed to reject disturbance and estimate the error in the dynamics model. Second, a nonlinear model predictive controller is presented to track the ankle trajectory while reducing assistance to the user. The …