Modular-Controller-Design-Based Fast Terminal Sliding Mode for Articulated Exoskeleton Systems

T. Madani 1 B. Daachi 1 K. Djouani 1
1 SIRIUS
LISSI - Laboratoire Images, Signaux et Systèmes Intelligents
Abstract : This brief deals with a modular controller using a fast terminal sliding mode approach for articulated systems represented by exoskeletons to perform flexion/extension movements. The proposed controller supposes that all model functions are unknown except classical properties related to the boundedness of some parameters. On the other hand, the disturbances are assumed to be bounded. It permits finite-time convergence to the desired trajectories in both position and velocity. The system is divided into several subsystems and a particular unit controls each subsystem. A supervisor using the Lyapunov approach ensures the closed-loop stability of the overall system. The proposed robust controller has been applied in a real-time application to drive an upper limb exoskeleton having 3 DOF. The used device worn by a healthy subject performs flexion/extension movements often practiced for rehabilitation purposes. A strict security protocol, which is generally used by therapists, has been respected. The obtained results are satisfactory and prove the effectiveness and the robustness of the proposed controller.
Type de document :
Article dans une revue
IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2017, 25 (3), pp.1133-1140
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Soumis le : mardi 13 juin 2017 - 16:23:26
Dernière modification le : dimanche 30 décembre 2018 - 09:50:26

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  • HAL Id : hal-01538486, version 1

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T. Madani, B. Daachi, K. Djouani. Modular-Controller-Design-Based Fast Terminal Sliding Mode for Articulated Exoskeleton Systems. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2017, 25 (3), pp.1133-1140. 〈hal-01538486〉

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