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This paper considers the use of sliding mode observers for fault detection/disturbance estimation. A new observer design method is considered which is based on Linear Matrix Inequality (LMI) optimisation. Sliding mode observers have previously been used for fault detection and disturbance estimation; however the systems for which they have been designed were of low dynamical order. The LMI approach...
In previous studies, an omni-directional walking support machine has been developed for people suffering from walking impairment. During walking support, the machine can identify the user's directional intention according to the user's forearm pressures and support the user to where they want to go. However, the motion performance of the machine is affected by the center-of-gravity (COG) shifts and...
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