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Adaptive sliding-mode controller of a lower limb mobile exoskeleton for active rehabilitation
- Source :
- ISA Transactions. 109:218-228
- Publication Year :
- 2021
- Publisher :
- Elsevier BV, 2021.
-
Abstract
- This study describes the design, instrumentation and control of an exoskeleton for lower limb children rehabilitation with nine degrees of freedom. Three degrees of freedom in each leg exert the movements of hip, knee and ankle in the sagittal plane, and three control the drive track system composed by a caterpillar-like robot. The control scheme presents a model free decentralized output feedback adaptive high-order sliding mode control to solve the trajectory tracking problem in each degree of freedom of the exoskeleton. A high order sliding mode differentiator estimates the unmeasured states and, by means of a dynamical state extension, it approximates the unknown dynamical model of the exoskeleton. A second-order adaptive sliding mode controller based on the super-twisting algorithm drives the exoskeleton articulations to track the proposed reference trajectories, inducing an ultimate boundedness for the tracking error. Numerical and experimental simulation results demonstrate the effect of the adaptive gain on the super-twisting control design. Such evaluations confirmed the superior tracking performance forced by the adaptive law for the controller with a smaller chattering amplitude and smaller mean tracking error.
- Subjects :
- Orthotic Devices
0209 industrial biotechnology
Adaptive control
Computer science
Degrees of freedom (statistics)
02 engineering and technology
Sliding mode control
Feedback
Tracking error
Differentiator
020901 industrial engineering & automation
Control theory
0202 electrical engineering, electronic engineering, information engineering
Humans
Computer Simulation
Knee
Electrical and Electronic Engineering
Child
Instrumentation
Hip
Applied Mathematics
Body Weight
Rehabilitation
020208 electrical & electronic engineering
Equipment Design
Robotics
Models, Theoretical
Exoskeleton Device
Body Height
Computer Science Applications
Exoskeleton
Lower Extremity
Control and Systems Engineering
Trajectory
Computer-Aided Design
Ankle
Algorithms
Subjects
Details
- ISSN :
- 00190578
- Volume :
- 109
- Database :
- OpenAIRE
- Journal :
- ISA Transactions
- Accession number :
- edsair.doi.dedup.....786fba516afb63c91a632da9664b6f09
- Full Text :
- https://doi.org/10.1016/j.isatra.2020.10.008