Estimated Model-Based Sliding Mode Controller for an Active Exoskeleton Robot

2016 ◽  
pp. 175-189 ◽  
Author(s):  
Yassine Bouteraa ◽  
Ismail Ben Abdallah
Keyword(s):  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Model Based ◽  
Exoskeleton Robot

scholarly journals Friction compensation and observer-based adaptive sliding mode control of electromechanical actuator

2018 ◽  
Vol 10 (12) ◽  
pp. 168781401881379 ◽  
Author(s):  
Mingyue Zhang ◽  
Man Zhou ◽  
Hui Liu ◽  
Baiqiang Zhang ◽  
Yulian Zhang ◽  
...  
Keyword(s):  
Model Uncertainty ◽  
Sliding Mode ◽  
Friction Torque ◽  
Friction Compensation ◽  
Sliding Mode Controller ◽  
Electromechanical Actuator ◽  
Adaptive Sliding Mode ◽  
Model Based ◽  
Adaptive Sliding Mode Controller ◽  
Actuator System

The performance of the electromechanical actuator system is usually affected by the nonlinear friction torque disturbance, model uncertainty, and unknown disturbances. In order to solve this problem, a model-based friction compensation method combined with an observer-based adaptive sliding mode controller for the speed loop of electromechanical actuator system is presented in this article. All the disturbances and model uncertainty of electromechanical actuator system are divided into two parts. One is model-based friction torque disturbance which can be identified by experiments, and the other is the residual disturbance which cannot be identified by experiments. A modified LuGre model is adopted to describe the friction torque disturbance of electromechanical actuator system. An extended state observer is designed to estimate the residual disturbance. An adaptive sliding mode controller is designed to control the system and compensate the friction torque disturbance and the residual disturbance. The stability of the electromechanical actuator system is discussed with Lyapunov stability theory and Barbalat’s lemma. Experiments are designed to validate the proposed method. The results demonstrate that the proposed control strategy not only provides better disturbance rejecting ability but also provides better steady state and dynamic performance.

scholarly journals Implementation of an Upper-Limb Exoskeleton Robot Driven by Pneumatic Muscle Actuators for Rehabilitation

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 106
Author(s):  
Chun-Ta Chen ◽  
Wei-Yuan Lien ◽  
Chun-Ting Chen ◽  
Yu-Cheng Wu
Keyword(s):  
Upper Limb ◽  
Elbow Joint ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Pneumatic Muscle ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot ◽  
Fuzzy Sliding Mode ◽  
Steel Cables ◽  
Muscle Actuators

Implementation of a prototype of a 4-degree of freedom (4-DOF) upper-limb exoskeleton robot for rehabilitation was described in this paper. The proposed exoskeleton robot has three DOFs at the shoulder joint and one DOF at the elbow joint. The upper-limb exoskeleton robot is driven by pneumatic muscle actuators (PMA) via steel cables. To implement the passive rehabilitation control, the rehabilitation trajectories expressed in the Fourier series were first planned by the curve fitting. The fuzzy sliding mode controller (FSMC) was then applied to the upper-limb exoskeleton robot for rehabilitation control. Several rehabilitation scenarios were carried out to validate the designed PMA-actuated exoskeleton robot.

Helicopter Motion Control Using Model-Based Sliding Mode Controller

2008 ◽  
Vol 12 (4) ◽  
pp. 342-347 ◽  
Author(s):  
Gesang Nugroho ◽  
◽  
Zahari Taha
Keyword(s):  
Motion Control ◽  
Rate Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Longitudinal Velocity ◽  
Control Law ◽  
Sliding Mode Controller ◽  
Lateral Velocity ◽  
Yaw Rate ◽  
Model Based

This paper describes a model-based controller design for helicopter using the sliding mode approach. The controller design assumes that only measured output are available and uses sliding mode observer to estimate all states of the system. The estimated states are then used to construct a model reference sliding mode control law. Simulation shows good performance for lateral velocity, longitudinal velocity, vertical velocity and yaw rate control.

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