Fuzzy sliding mode control of 5 DOF upper-limb exoskeleton robot

In this paper, a fuzzy sliding mode controller is used for position tracking of a 5 DOF upper-limb exoskeleton robot. In the proposed controlling method, firstly the control input is designed, using inverse dynamic method. Then, in order to overcome unwanted effects of uncertainties, a sliding PID controller is proposed and the mathematical proofs show that the closed-loop system is asymptotically stable in the presence of this controller. Finally, a T-S fuzzy sliding mode controller is applied to avoid undesirable phenomena of chattering in compare to the classic sliding mode controller. The simulation results confirm the desirable performance of the fuzzy sliding mode controller.

[1]  Peter Kwong-Shun Tam,et al.  A fuzzy sliding controller for nonlinear systems , 2001, IEEE Trans. Ind. Electron..

[2]  Hao-Bo Kang,et al.  Adaptive robust control of 5 DOF Upper-limb exoskeleton robot , 2015 .

[3]  Chih-Min Lin,et al.  Decoupling control by hierarchical fuzzy sliding-mode controller , 2005, IEEE Trans. Control. Syst. Technol..

[4]  Emanuele Carpanzano,et al.  Design of a gain scheduling controller for knee-joint angle control by using functional electrical stimulation , 2003, IEEE Trans. Control. Syst. Technol..

[5]  Eric Rogers,et al.  Iterative learning control of FES applied to the upper extremity for rehabilitation , 2009 .

[6]  P. Olver.  Nonlinear Systems , 2013 .

[7]  Cheng Kang Lee,et al.  Intention Identification and Control Strategy of the Upper Limb Exoskeleton Robot , 2014 .

[8]  Maarouf Saad,et al.  Nonlinear Sliding Mode Control Implementation of an Upper Limb Exoskeleton Robot to Provide Passive Rehabilitation Therapy , 2012, ICIRA.

[9]  Jean-Pierre Barbot,et al.  Sliding Mode Control In Engineering , 2002 .

[10]  R. A. R. C. Gopura,et al.  A brief review on upper extremity robotic exoskeleton systems , 2011, 2011 6th International Conference on Industrial and Information Systems.

[11]  Byoung Gook Loh,et al.  Kinematic analysis of 7 degrees of freedom upper-limb exoskeleton robot with tilted shoulder abduction , 2013 .

[12]  Qidan Zhu,et al.  Variable Structure Control Based on Fuzzy Law for Underactuated Robot Manipulators , 2006, 2006 International Conference on Mechatronics and Automation.

[13]  Hao-Bo Kang,et al.  Adaptive control of 5 DOF upper-limb exoskeleton robot with improved safety. , 2013, ISA transactions.

[14]  Okyay Kaynak,et al.  The fusion of computationally intelligent methodologies and sliding-mode control-a survey , 2001, IEEE Trans. Ind. Electron..

[15]  G. Bartolini,et al.  Chattering avoidance by second-order sliding mode control , 1998, IEEE Trans. Autom. Control..

[16]  Wen Yu,et al.  A novel linear PID controller for an upper limb exoskeleton , 2010, 49th IEEE Conference on Decision and Control (CDC).