{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,17]],"date-time":"2025-11-17T02:26:26Z","timestamp":1763346386579,"version":"3.45.0"},"reference-count":32,"publisher":"Tech Science Press","issue":"3","license":[{"start":{"date-parts":[[2025,11,2]],"date-time":"2025-11-02T00:00:00Z","timestamp":1762041600000},"content-version":"vor","delay-in-days":305,"URL":"https:\/\/doi.org\/10.32604\/TSP-CROSSMARKPOLICY"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["CMC"],"published-print":{"date-parts":[[2025]]},"DOI":"10.32604\/cmc.2025.069047","type":"journal-article","created":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T08:51:16Z","timestamp":1758099076000},"page":"5703-5721","update-policy":"https:\/\/doi.org\/10.32604\/tsp-crossmarkpolicy","source":"Crossref","is-referenced-by-count":0,"title":["Flatness Control with Cascaded Filtered High-Gain and Disturbance Observers for Rehabilitation Exoskeletons"],"prefix":"10.32604","volume":"85","author":[{"given":"Sahbi","family":"Boubaker","sequence":"first","affiliation":[]},{"given":"Salim Hadj","family":"Said","sequence":"additional","affiliation":[]},{"given":"Souad","family":"Kamel","sequence":"additional","affiliation":[]},{"given":"Habib","family":"Dimassi","sequence":"additional","affiliation":[]}],"member":"17807","published-online":{"date-parts":[[2025]]},"reference":[{"key":"ref1","doi-asserted-by":"crossref","first-page":"24","DOI":"10.1109\/37.67672","article-title":"Survey of robust control for rigid robots","volume":"11","author":"Abdallah","year":"1991","journal-title":"IEEE Control Syst Mag"},{"key":"ref2","doi-asserted-by":"crossref","first-page":"509","DOI":"10.1016\/j.mechatronics.2011.01.005","article-title":"The design and control of a therapeutic exercise robot for lower limb rehabilitation: physiotherabot","volume":"21","author":"Akdo\u01e7an","year":"2011","journal-title":"Mechatronics"},{"key":"ref3","doi-asserted-by":"crossref","first-page":"6926","DOI":"10.1109\/TIE.2014.2316255","article-title":"Advanced nonlinear PID-based antagonistic control for pneumatic muscle actuators","volume":"61","author":"Andrikopoulos","year":"2014","journal-title":"IEEE Trans Ind Electron"},{"key":"ref4","doi-asserted-by":"crossref","first-page":"3681","DOI":"10.3390\/s20133681","article-title":"Improved active disturbance rejection control for trajectory tracking control of lower limb robotic rehabilitation exoskeleton","volume":"20","author":"Aole","year":"2020","journal-title":"Sensors"},{"key":"ref5","first-page":"606","article-title":"Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton","volume":"235","author":"Aole","year":"2021","journal-title":"Proc Inst Mech Eng I J Syst Control Eng"},{"key":"ref6","doi-asserted-by":"crossref","first-page":"1287","DOI":"10.3390\/app12031287","article-title":"Active disturbance rejection control based sinusoidal trajectory tracking for an upper limb robotic rehabilitation exoskeleton","volume":"12","author":"Aole","year":"2022","journal-title":"Appl Sci"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"119","DOI":"10.1186\/s12984-021-00906-3","article-title":"Review of control strategies for lower-limb exoskeletons to assist gait","volume":"18","author":"Baud","year":"2021","journal-title":"J NeuroEng Rehabil"},{"key":"ref8","series-title":"The 12th IEEE International Conference on Fuzzy Systems; 2003 May 25\u201328","first-page":"272","article-title":"Feedforward control of a non-linear pneumatic muscle system using fuzzy logic","author":"Balasubramanian"},{"journal-title":"Modern control systems","year":"2011","author":"Dorf","key":"ref9"},{"key":"ref10","doi-asserted-by":"crossref","first-page":"984","DOI":"10.1109\/TCYB.2016.2536149","article-title":"Disturbance observer-based fuzzy control of uncertain MIMO mechanical systems with input nonlinearities and its application to robotic exoskeleton","volume":"47","author":"Chen","year":"2017","journal-title":"IEEE Trans Cybern"},{"key":"ref11","doi-asserted-by":"crossref","first-page":"72343","DOI":"10.1109\/ACCESS.2019.2918721","article-title":"Active disturbance rejection with fast terminal sliding mode control for a lower limb exoskeleton in swing phase","volume":"7","author":"Chen","year":"2019","journal-title":"IEEE Access"},{"key":"ref12","doi-asserted-by":"crossref","first-page":"2815","DOI":"10.1109\/TIE.2009.2036632","article-title":"Control of manipulator using pneumatic muscles for enhanced safety","volume":"57","author":"Choi","year":"2010","journal-title":"IEEE Trans Ind Electron"},{"key":"ref13","doi-asserted-by":"crossref","first-page":"2335","DOI":"10.1016\/j.jfranklin.2013.07.011","article-title":"Second order sliding mode output feedback control with switching gains\u2014application to the control of a pneumatic actuator","volume":"351","author":"Estrada","year":"2014","journal-title":"J Frankl Inst"},{"key":"ref14","doi-asserted-by":"crossref","first-page":"36","DOI":"10.1186\/1743-0003-9-36","article-title":"Positive effects of robotic exoskeleton training of upper limb reaching movements after stroke","volume":"9","author":"Frisoli","year":"2012","journal-title":"J Neuroeng Rehabil"},{"key":"ref15","series-title":"2014 IEEE International Conference on Automation, Quality and Testing, Robotics; 2014 May 22\u201324","first-page":"1","article-title":"Active disturbance rejection controller for a separation column","author":"Dulf"},{"key":"ref16","doi-asserted-by":"crossref","first-page":"1940","DOI":"10.1109\/TBME.2007.901024","article-title":"OpenSim: open-source software to create and analyze dynamic simulations of movement","volume":"54","author":"Delp","year":"2007","journal-title":"IEEE Trans Biomed Eng"},{"key":"ref17","doi-asserted-by":"crossref","first-page":"17","DOI":"10.1002\/(SICI)1097-4563(199812)15:1<17::AID-ROB2>3.0.CO;2-V","article-title":"On the uniform boundedness of the inertia matrix of serial robot manipulators","volume":"15","author":"Ghorbel","year":"1998","journal-title":"J Robot Syst"},{"key":"ref18","doi-asserted-by":"crossref","first-page":"044503","DOI":"10.1115\/1.4026900","article-title":"Developing a mobile lower limb robotic exoskeleton for gait rehabilitation","volume":"8","author":"Guo","year":"2014","journal-title":"J Med Devices"},{"key":"ref19","doi-asserted-by":"crossref","first-page":"6882","DOI":"10.1109\/TIE.2014.2316263","article-title":"Output-tracking-error-constrained robust positioning control for a nonsmooth nonlinear dynamic system","volume":"61","author":"Han","year":"2014","journal-title":"IEEE Trans Ind Electron"},{"key":"ref20","doi-asserted-by":"crossref","first-page":"556","DOI":"10.1016\/j.conengprac.2012.11.014","article-title":"Active disturbance rejection control for the ALSTOM gasifier benchmark problem","volume":"21","author":"Huang","year":"2013","journal-title":"Control Eng Pract"},{"key":"ref21","doi-asserted-by":"crossref","first-page":"1025","DOI":"10.1109\/TSMCB.2012.2222374","article-title":"Adaptive impedance control of a robotic orthosis for gait rehabilitation","volume":"43","author":"Hussain","year":"2013","journal-title":"IEEE Trans Cybern"},{"key":"ref22","doi-asserted-by":"crossref","first-page":"476","DOI":"10.18196\/jrc.v3i4.15239","article-title":"Observer sliding mode control design for lower exoskeleton system: rehabilitation case","volume":"3","author":"Al-Awad","year":"2022","journal-title":"J Robot Control"},{"key":"ref23","doi-asserted-by":"crossref","first-page":"158","DOI":"10.14311\/AP.2023.63.0158","article-title":"Fractional multi-loop active disturbance rejection control for a lower knee exoskeleton system","volume":"63","author":"Al-Awad","year":"2023","journal-title":"Acta Polytech"},{"key":"ref24","first-page":"316","article-title":"A novel approach of multi-loop control based-ADRC for improving lower knee position exoskeleton system","volume":"14","author":"Al-Awad","year":"2023","journal-title":"Int Rev Appl Sci Eng"},{"key":"ref25","doi-asserted-by":"crossref","first-page":"e20220680","DOI":"10.1590\/0001-3765202320220680","article-title":"Sliding mode-based active disturbance rejection control of assistive exoskeleton device for rehabilitation of disabled lower limbs","volume":"95","author":"Al-Awad","year":"2023","journal-title":"An Acad Bras Ci\u00eanc"},{"key":"ref26","doi-asserted-by":"crossref","first-page":"S189","DOI":"10.1016\/j.pmrj.2018.07.011","article-title":"Robotic and sensor technology for upper limb rehabilitation","volume":"10","author":"Jakob","year":"2018","journal-title":"PM&R"},{"key":"ref27","doi-asserted-by":"crossref","first-page":"171","DOI":"10.5755\/j01.itc.53.1.33752","article-title":"A robust adaptive non-singular terminal sliding mode control: application to an upper-limb exoskeleton with disturbances and uncertain dynamics","volume":"53","author":"Dali Hassen","year":"2024","journal-title":"Inf Technol Control"},{"key":"ref28","series-title":"2012 IEEE International Conference on Robotics and Automation; 2012 May 14\u201318","first-page":"3173","article-title":"Development of dynamic model-based controller for upper limb exoskeleton robot","author":"Lee"},{"key":"ref29","doi-asserted-by":"crossref","first-page":"1001","DOI":"10.1080\/00207721.2021.1922952","article-title":"Nonlinear disturbance observer based flexible-boundary prescribed performance control for a lower limb exoskeleton","volume":"52","author":"Wang","year":"2021","journal-title":"Int J Syst Sci"},{"key":"ref30","doi-asserted-by":"crossref","first-page":"e100","DOI":"10.1002\/adc2.100","article-title":"Flatness-based disturbance observer for exoskeleton robots under time-delayed contact forces","volume":"4","author":"Rigatos","year":"2022","journal-title":"Adv Control Appl"},{"key":"ref31","doi-asserted-by":"crossref","first-page":"78","DOI":"10.1016\/j.automatica.2015.02.036","article-title":"Observer design for a class of uncertain nonlinear systems with sampled outputs\u2014application to the estimation of kinetic rates in bioreactors","volume":"55","author":"Bouraoui","year":"2015","journal-title":"Automatica"},{"key":"ref32","doi-asserted-by":"crossref","first-page":"214","DOI":"10.1177\/0142331219865816","article-title":"Explicit nonlinear model predictive control tracking control based on a sliding mode observer for a quadrotor subject to disturbances","volume":"42","author":"Miladi","year":"2019","journal-title":"Trans Inst Meas Control"}],"container-title":["Computers, Materials &amp; Continua"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/cdn.techscience.cn\/files\/cmc\/2025\/TSP_CMC-85-3\/TSP_CMC_69047\/TSP_CMC_69047.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,11,17]],"date-time":"2025-11-17T02:23:27Z","timestamp":1763346207000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.techscience.com\/cmc\/v85n3\/64188"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":32,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2025]]},"published-print":{"date-parts":[[2025]]}},"URL":"https:\/\/doi.org\/10.32604\/cmc.2025.069047","relation":{},"ISSN":["1546-2226"],"issn-type":[{"type":"electronic","value":"1546-2226"}],"subject":[],"published":{"date-parts":[[2025]]},"assertion":[{"value":"2025-06-13","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-08-22","order":1,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-10-23","order":2,"name":"published","label":"Published Online","group":{"name":"publication_history","label":"Publication History"}}]}}