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Fixed-time Observer-based Controller for the Human-Robot Collaboration with Interaction Force Estimation
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  • Ali Soltani Sharif Abadi,
  • Pooyan Alinaghi Hosseinabadi,
  • Ayesha Hameed,
  • Andrew Ordys,
  • Barbara Pierscionek
Ali Soltani Sharif Abadi
Politechnika Warszawska Wydzial Fizyki

Corresponding Author:[email protected]

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Pooyan Alinaghi Hosseinabadi
University of New South Wales Canberra at the ADFA Cyber
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Ayesha Hameed
Politechnika Warszawska Wydzial Fizyki
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Andrew Ordys
Politechnika Warszawska Wydzial Fizyki
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Barbara Pierscionek
Anglia Ruskin University Faculty of Health Social Care and Education Cambridge
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An exoskeleton robot is a sample of a wearable robot. One of the most critical challenges in developing wearable robots is the application of the interactive force between human and robot. Force sensors need to be placed on the robot. Consideration in using these sensors needs to be given to factors such as cost, noise, and weight. One way that can be used to help with the operation of the exoskeleton is to support the sensors with observers. This study will estimate the interactive force applied to a human arm model and the exoskeleton robot. The Sliding Mode Control (SMC) method will be employed to design a chattering-free robust fixed-time controller and observer, for estimating the states of the human arm and exoskeleton robot. Utilising this information from state observers, the interactive force is estimated. The state observer and the controller work together in real-time (online estimation). The Lyapunov theory is used to show the fixed-time stability analysis of the controller and the observer. Numerical simulation with three scenarios demonstrates the performance of the proposed design.
28 Nov 2022Submitted to International Journal of Robust and Nonlinear Control
01 Dec 2022Submission Checks Completed
01 Dec 2022Assigned to Editor
01 Dec 2022Review(s) Completed, Editorial Evaluation Pending
07 Dec 2022Reviewer(s) Assigned
18 Jan 2023Editorial Decision: Revise Minor
13 Feb 20231st Revision Received
14 Feb 2023Assigned to Editor
14 Feb 2023Submission Checks Completed
14 Feb 2023Review(s) Completed, Editorial Evaluation Pending
15 Feb 2023Reviewer(s) Assigned
21 Mar 2023Editorial Decision: Revise Minor
30 Mar 20232nd Revision Received
30 Mar 2023Assigned to Editor
30 Mar 2023Submission Checks Completed
30 Mar 2023Review(s) Completed, Editorial Evaluation Pending
09 Apr 2023Editorial Decision: Accept
25 Apr 2023Published in International Journal of Robust and Nonlinear Control. 10.1002/rnc.6719