Sensorless Control for Joint Drive Unit of Lower Extremity Exoskeleton with Cascade Feedback Observer

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2018/3029514/figures/3029514.fig.009a.svgz" name="3029514.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Identification result of ISF-SMO when speed is 2000 rpm with inductance value of 0.0166H.</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2018/3029514/figures/3029514.fig.009b.svgz" name="3029514.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Identification result of ISF-SMO when speed is 2000 rpm with inductance value of 0.0083H.</td></tr></table>

<div>Compare simulation results of ISF-SMO with inductance value of 0.0166H and ISF-SMO with inductance value of 0.0083H. (a) is the result of ISF-SMO with inductance value of 0.0166H, and (b) is the result of ISF-SMO with inductance value of 0.0083H.</div>

Mathematical Problems in Engineering

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Figure 9

Figure 9: Sensorless Control for Joint Drive Unit of Lower Extremity Exoskeleton with Cascade Feedback Observer 