Adaptive robust slide mode trajectory tracking controller for lower extremity rehabilitation exoskeleton

Lei Zhang; Weihai Chen; Jianhua Wang; Jianbin Zhang

doi:10.1109/ICIEA.2018.8397856

Adaptive robust slide mode trajectory tracking controller for lower extremity rehabilitation exoskeleton

Lei Zhang
, Weihai Chen^*
, Jianhua Wang
, Jianbin Zhang

^*Corresponding author for this work

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

An adaptive robust slide mode controller (ARSMC) was designed for lower extremity rehabilitation exoskeleton whose joints are driven by DC motors works in torque mode. The innovation point is that an adaptive robust controller was used in human gait tracking control for lower extremity rehabilitation exoskeleton. To complete the designed of the controller, the dynamic model of the robot was proposed in first; Then an adaptive robust controller was designed based on the dynamic model which was proposed forward. To satisfy the requirement of the robust performance a sliding surface which in Proportional-differential-integral form was proposed. Besides, a reaching law that has high rate of convergence and trifling buffeting with adaptive parameters was proposed in the permission of Lyapunov stability in order to resist external disturbance and make the system more adaptive to satisfy the veracity with different patient. Then the controller was simulated in MATLAB and was compared with PID controller to prove the superiority of this controller.

Original language	English
Title of host publication	Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	992-997
Number of pages	6
ISBN (Electronic)	9781538637579
DOIs	https://doi.org/10.1109/ICIEA.2018.8397856
State	Published - 26 Jun 2018
Event	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 - Wuhan, China Duration: 31 May 2018 → 2 Jun 2018

Publication series

Name	Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

Conference

Conference	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
Country/Territory	China
City	Wuhan
Period	31/05/18 → 2/06/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

Gait tracking
adaptive
rehabilitation exoskele-ton
robust
sliding mode control

Access to Document

10.1109/ICIEA.2018.8397856

Cite this

Zhang, L., Chen, W., Wang, J., & Zhang, J. (2018). Adaptive robust slide mode trajectory tracking controller for lower extremity rehabilitation exoskeleton. In Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 (pp. 992-997). (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIEA.2018.8397856

Zhang, Lei ; Chen, Weihai ; Wang, Jianhua et al. / Adaptive robust slide mode trajectory tracking controller for lower extremity rehabilitation exoskeleton. Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 992-997 (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018).

@inproceedings{4118fcd7cd7d42e0a5d2980206562cb0,

title = "Adaptive robust slide mode trajectory tracking controller for lower extremity rehabilitation exoskeleton",

abstract = "An adaptive robust slide mode controller (ARSMC) was designed for lower extremity rehabilitation exoskeleton whose joints are driven by DC motors works in torque mode. The innovation point is that an adaptive robust controller was used in human gait tracking control for lower extremity rehabilitation exoskeleton. To complete the designed of the controller, the dynamic model of the robot was proposed in first; Then an adaptive robust controller was designed based on the dynamic model which was proposed forward. To satisfy the requirement of the robust performance a sliding surface which in Proportional-differential-integral form was proposed. Besides, a reaching law that has high rate of convergence and trifling buffeting with adaptive parameters was proposed in the permission of Lyapunov stability in order to resist external disturbance and make the system more adaptive to satisfy the veracity with different patient. Then the controller was simulated in MATLAB and was compared with PID controller to prove the superiority of this controller.",

keywords = "Gait tracking, adaptive, rehabilitation exoskele-ton, robust, sliding mode control",

author = "Lei Zhang and Weihai Chen and Jianhua Wang and Jianbin Zhang",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 ; Conference date: 31-05-2018 Through 02-06-2018",

year = "2018",

month = jun,

day = "26",

doi = "10.1109/ICIEA.2018.8397856",

language = "英语",

series = "Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "992--997",

booktitle = "Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018",

address = "美国",

}

Zhang, L, Chen, W, Wang, J & Zhang, J 2018, Adaptive robust slide mode trajectory tracking controller for lower extremity rehabilitation exoskeleton. in Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018, Institute of Electrical and Electronics Engineers Inc., pp. 992-997, 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018, Wuhan, China, 31/05/18. https://doi.org/10.1109/ICIEA.2018.8397856

Adaptive robust slide mode trajectory tracking controller for lower extremity rehabilitation exoskeleton. / Zhang, Lei; Chen, Weihai; Wang, Jianhua et al.
Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 992-997 (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Adaptive robust slide mode trajectory tracking controller for lower extremity rehabilitation exoskeleton

AU - Zhang, Lei

AU - Chen, Weihai

AU - Wang, Jianhua

AU - Zhang, Jianbin

PY - 2018/6/26

Y1 - 2018/6/26

N2 - An adaptive robust slide mode controller (ARSMC) was designed for lower extremity rehabilitation exoskeleton whose joints are driven by DC motors works in torque mode. The innovation point is that an adaptive robust controller was used in human gait tracking control for lower extremity rehabilitation exoskeleton. To complete the designed of the controller, the dynamic model of the robot was proposed in first; Then an adaptive robust controller was designed based on the dynamic model which was proposed forward. To satisfy the requirement of the robust performance a sliding surface which in Proportional-differential-integral form was proposed. Besides, a reaching law that has high rate of convergence and trifling buffeting with adaptive parameters was proposed in the permission of Lyapunov stability in order to resist external disturbance and make the system more adaptive to satisfy the veracity with different patient. Then the controller was simulated in MATLAB and was compared with PID controller to prove the superiority of this controller.

AB - An adaptive robust slide mode controller (ARSMC) was designed for lower extremity rehabilitation exoskeleton whose joints are driven by DC motors works in torque mode. The innovation point is that an adaptive robust controller was used in human gait tracking control for lower extremity rehabilitation exoskeleton. To complete the designed of the controller, the dynamic model of the robot was proposed in first; Then an adaptive robust controller was designed based on the dynamic model which was proposed forward. To satisfy the requirement of the robust performance a sliding surface which in Proportional-differential-integral form was proposed. Besides, a reaching law that has high rate of convergence and trifling buffeting with adaptive parameters was proposed in the permission of Lyapunov stability in order to resist external disturbance and make the system more adaptive to satisfy the veracity with different patient. Then the controller was simulated in MATLAB and was compared with PID controller to prove the superiority of this controller.

KW - Gait tracking

KW - adaptive

KW - rehabilitation exoskele-ton

KW - robust

KW - sliding mode control

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BT - Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

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ER -

Zhang L, Chen W, Wang J, Zhang J. Adaptive robust slide mode trajectory tracking controller for lower extremity rehabilitation exoskeleton. In Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 992-997. (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018). doi: 10.1109/ICIEA.2018.8397856

Adaptive robust slide mode trajectory tracking controller for lower extremity rehabilitation exoskeleton

Abstract

Publication series

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UN SDGs

Keywords

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