Robust Finite-Time Convergence Control for a Knee Rehabilitation Robot

Precision and transient performance of trajectory tracking has practical significance for rehabilitation robot. A robust finite-time convergence control (RFTCC) strategy was developed for improving control accuracy and transient performance of knee rehabilitation robot in this paper. Firstly, uncertainties of dynamic model of knee rehabilitation robot were analyzed. Secondly, a RFTCC was developed to guarantee the robustness and accuracy of trajectory tracking with model uncertainties, unknown load, and external disturbances. Finally, simulation and experiment were performed on the knee rehabilitation robot. Simulations and experiments demonstrated that this new control method can provide robust and accurate control.