Non-singular terminal sliding mode controller: Application to an actuated exoskeleton

T. Madani 1 B. Daachi 1 K. Djouani 1
LISSI - Laboratoire Images, Signaux et Systèmes Intelligents
Abstract : This paper presents a robust controller of an active orthosis used for rehabilitation purposes. The system is composed of the orthosis worn by the shank and has a complex dynamical model. No prior knowledge is considered on the dynamical model and the flexion/extension movements considered are of sinusoidal form and are generally defined by the doctor. The used non-singular terminal sliding mode technique permits to have a finite time convergence. The experimental results have been conducted online on an appropriate dummy and then on three healthy subjects. A comparison of performances obtained by the proposed approach with those obtained by a conventional controller has also been realized. Several situations have been considered to test the robustness and it has been concluded with the effectiveness of the developed controller.
Type de document :
Article dans une revue
Mechatronics, Elsevier, 2016, 33, pp.136-145
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Soumis le : mardi 13 juin 2017 - 16:23:29
Dernière modification le : dimanche 30 décembre 2018 - 16:10:42


  • HAL Id : hal-01538492, version 1



T. Madani, B. Daachi, K. Djouani. Non-singular terminal sliding mode controller: Application to an actuated exoskeleton. Mechatronics, Elsevier, 2016, 33, pp.136-145. 〈hal-01538492〉



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