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The design and study of the Active Disturbance Rejection Control (ADRC) approach for control and disturbance rejection for lower knee rehabilitation utilizing a residential exoskeleton system are provided in this paper. Linear ADRC (LADRC) and Nonlinear ADRC (NADRC) are two controllers that are considered for control purposes based on the structure of ADRC. The contrasts between them are thoroughly discussed in this work. The LADRC is made up of a tracking differential (TD), a linear proportional derivative (LPD) controller, and a linear extended state observer (LESO), whereas the NADRC is made up of the same LESO but with a nonlinear PD (NPD) and a modified optimized TD (MTD). In terms of robustness against the ability to reject applied disturbances, a comparison of LADRC and NADRC has been done. The fundamental challenge with ADRC is that its constituent parameters must be fine-tuned. Grey Wolf Optimizer (GWO) has been proposed for tuning the parameters of ADRC to have the least amount of error variation in order to improve the controlled system's dynamic performance. When a prescribed disturbing torque is applied, the results of a MATLAB simulation show that the LADRC has greater disturbance rejection capabilities than the NADRC.
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