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

自动化科学与电气工程学院

Beihang University

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

22 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
出版商	Institute of Electrical and Electronics Engineers Inc.
页	1481-1486
页数	6
ISBN（电子版）	9781538637579
DOI	https://doi.org/10.1109/ICIEA.2018.8397943
出版状态	已出版 - 26 6月 2018
活动	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 - Wuhan, 中国期限: 31 5月 2018 → 2 6月 2018

出版系列

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

会议

会议	13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018
国家/地区	中国
市	Wuhan
时期	31/05/18 → 2/06/18

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1109/ICIEA.2018.8397943

其它文件与链接

链接到 Scopus 的出版物

引用此

Liu, J., Zhang, Y., Wang, J., & Chen, W. (2018). Adaptive sliding mode control for a lower-limb exoskeleton rehabilitation robot. 在 Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018 (页码 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 等. / 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. 页码 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. 在 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., 页码 1481-1486, 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018, Wuhan, 中国, 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 等.
Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 页码 1481-1486 (Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

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. 在 Proceedings of the 13th IEEE Conference on Industrial Electronics and Applications, ICIEA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 页码 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

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

学术指纹

引用此