Integral anti-windup implementation of disturbance observer for exoskeleton application

Exoskeleton robots have been widely studied for many purposes. The disturbance observer(DOB) may also have a potential to be applied to control the exoskeleton robot if it overcomes its unstableness or divergence in the operation. In the paper, the DEFIC, which is a kind of the DOB, is revisited to apply to the exoskeleton robot control. The DEFIC is improved to guarantee stable motion during operation by using integral anti-windup technique. The performance of the improved DEFIC with the integral anti-windup technique is verified with the simulation.