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... simulation results for the proposed task are presented in Fig. 3 to Fig. 7, using the proposed approach with the disturbance observer. From Fig. 3, it is easy to remark that the desired trajectory (red line) overlapped with the actual position (dashed blue line). The plots of Fig. 4 and Fig. 5 present the tracking errors of the position and the voltage control input, respectively. It can be seen that the ...
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... It can be seen that the voltage input (Fig. 5) is within the required motors range. Fig. 6 presents the current error which means that the proposed voltage control input is able to force the actual current to converge to the desired current (í µí°¼ ⟶ í µí°¼ í µí± ). The evaluation of the outputs of the disturbance observer is given in Fig. 7. From this trial, it is clear that the proposed controller achieves the desired physiotherapy even if the dynamic parameters and the actuators dynamics were ...
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