摘要：Acceleration acquisition is a key issue in robotic exoskeleton system，which is,however，hard to acquire directly via existing sensing system. To this end,a novel adaptivefixed-time acceleration reconstruction scheme with error constraints is proposed for a classof exoskeleton systems. In this approach，a new barrier Lyapunov function is proposed toaddress the reconstruction error constraints. 'Together with exponential-type Lyapunov function,contraction factors concept is put forward to ensure the observation errors are limited withinprescribed constraints. Moreover, the convergence time is irrelevant to initial states or externaldisturbance but only dependent on the chosen parameters. Simulation results demonstrate theperformance of fixed-time and guaranteed constraint convergence.
