Adaptive sliding mode control for a lower-limb exoskeleton rehabilitation robot

Jingmeng Liu; Yinping Zhang; Jianhua Wang; Weihai Chen

doi:10.1109/ICIEA.2018.8397943

Adaptive sliding mode control for a lower-limb exoskeleton rehabilitation robot

Jingmeng Liu
, Yinping Zhang
, Jianhua Wang
, Weihai Chen

School of Automation Science and Electrical Engineering

Beihang University

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

22 Scopus citations

Abstract

This paper presents an adaptive sliding mode control (ASMC) method for wearable lower extremity exoskeleton. Since the dynamic control system of lower limb exoskeleton robot is non-linear, it is difficult to track the desired trajectory accurately. In this paper, an adaptive single-input single-output (SISO) system, whose adaptive law is designed based on the Lyapunov method, is applied to calculate the element of the control gain vector in a sliding mode controller. A simulating model was built, different control methods, like PID control, classical sliding mode control, and adaptive sliding mode control, have been tested on the prototype. The results show that ASMC has better performance in eliminating jitter and tracking trajectories than PID and classical sliding mode control.

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	1481-1486
Number of pages	6
ISBN (Electronic)	9781538637579
DOIs	https://doi.org/10.1109/ICIEA.2018.8397943
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

ASMC
exoskeleton robot
trajectory tracking

Access to Document

10.1109/ICIEA.2018.8397943

Cite this

Liu, J., Zhang, Y., Wang, J., & Chen, W. (2018). Adaptive sliding mode control for a lower-limb exoskeleton rehabilitation robot. In Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 (pp. 1481-1486). (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.2018.8397943

Liu, Jingmeng ; Zhang, Yinping ; Wang, Jianhua et al. / Adaptive sliding mode control for a lower-limb exoskeleton rehabilitation robot. Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1481-1486 (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018).

@inproceedings{d377049d383449a3b3602f845ce49d76,

title = "Adaptive sliding mode control for a lower-limb exoskeleton rehabilitation robot",

abstract = "This paper presents an adaptive sliding mode control (ASMC) method for wearable lower extremity exoskeleton. Since the dynamic control system of lower limb exoskeleton robot is non-linear, it is difficult to track the desired trajectory accurately. In this paper, an adaptive single-input single-output (SISO) system, whose adaptive law is designed based on the Lyapunov method, is applied to calculate the element of the control gain vector in a sliding mode controller. A simulating model was built, different control methods, like PID control, classical sliding mode control, and adaptive sliding mode control, have been tested on the prototype. The results show that ASMC has better performance in eliminating jitter and tracking trajectories than PID and classical sliding mode control.",

keywords = "ASMC, exoskeleton robot, trajectory tracking",

author = "Jingmeng Liu and Yinping Zhang and Jianhua Wang and Weihai Chen",

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.2018.8397943",

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 = "1481--1486",

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

address = "美国",

}

Liu, J, Zhang, Y, Wang, J & Chen, W 2018, Adaptive sliding mode control for a lower-limb exoskeleton rehabilitation robot. 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. 1481-1486, 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018, Wuhan, China, 31/05/18. https://doi.org/10.1109/ICIEA.2018.8397943

Adaptive sliding mode control for a lower-limb exoskeleton rehabilitation robot. / Liu, Jingmeng; Zhang, Yinping; 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. 1481-1486 (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 sliding mode control for a lower-limb exoskeleton rehabilitation robot

AU - Liu, Jingmeng

AU - Zhang, Yinping

AU - Wang, Jianhua

AU - Chen, Weihai

PY - 2018/6/26

Y1 - 2018/6/26

N2 - This paper presents an adaptive sliding mode control (ASMC) method for wearable lower extremity exoskeleton. Since the dynamic control system of lower limb exoskeleton robot is non-linear, it is difficult to track the desired trajectory accurately. In this paper, an adaptive single-input single-output (SISO) system, whose adaptive law is designed based on the Lyapunov method, is applied to calculate the element of the control gain vector in a sliding mode controller. A simulating model was built, different control methods, like PID control, classical sliding mode control, and adaptive sliding mode control, have been tested on the prototype. The results show that ASMC has better performance in eliminating jitter and tracking trajectories than PID and classical sliding mode control.

AB - This paper presents an adaptive sliding mode control (ASMC) method for wearable lower extremity exoskeleton. Since the dynamic control system of lower limb exoskeleton robot is non-linear, it is difficult to track the desired trajectory accurately. In this paper, an adaptive single-input single-output (SISO) system, whose adaptive law is designed based on the Lyapunov method, is applied to calculate the element of the control gain vector in a sliding mode controller. A simulating model was built, different control methods, like PID control, classical sliding mode control, and adaptive sliding mode control, have been tested on the prototype. The results show that ASMC has better performance in eliminating jitter and tracking trajectories than PID and classical sliding mode control.

KW - ASMC

KW - exoskeleton robot

KW - trajectory tracking

UR - https://www.scopus.com/pages/publications/85050089667

U2 - 10.1109/ICIEA.2018.8397943

DO - 10.1109/ICIEA.2018.8397943

M3 - 会议稿件

AN - SCOPUS:85050089667

T3 - Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

SP - 1481

EP - 1486

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018

Y2 - 31 May 2018 through 2 June 2018

ER -

Liu J, Zhang Y, Wang J, Chen W. Adaptive sliding mode control for a lower-limb exoskeleton rehabilitation robot. In Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1481-1486. (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018). doi: 10.1109/ICIEA.2018.8397943

Adaptive sliding mode control for a lower-limb exoskeleton rehabilitation robot

Abstract

Publication series

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UN SDGs

Keywords

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