TY - GEN
T1 - Fuzzy Sliding Mode Control of An Upper-Limb Exoskeleton Robot
AU - Teng, Long
AU - Bai, Shaoping
N1 - Funding Information:
ACKNOWLEDGMENT This work has been supported by Innovation Fund Denmark through project REMAP.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - In this paper, the position tracking control problem of a wheelchair upper-limb exoskeleton robot is investigated. The dynamic model of an upper-limb exoskeleton is a multi-input multi-output nonlinear system that usually suffers complex couplings among joints, modeling errors and uncertainties, and variance in payload that caused by the human upper limb. Instead of traditional proportional-derivative control method, a combination of sliding mode control and fuzzy logic, i.e., the fuzzy sliding mode control, is developed in this work. The fuzzy sliding mode control is free of modeling of system dynamics, thus it is robust to couplings and uncertainties within the exoskeleton dynamical model. Moreover, due to its simplicity in control algorithm design, it can be implemented for real-time and embedded control. Experiment results on the wheelchair exoskeleton are provided to show the effectiveness of the fuzzy sliding mode control approach.
AB - In this paper, the position tracking control problem of a wheelchair upper-limb exoskeleton robot is investigated. The dynamic model of an upper-limb exoskeleton is a multi-input multi-output nonlinear system that usually suffers complex couplings among joints, modeling errors and uncertainties, and variance in payload that caused by the human upper limb. Instead of traditional proportional-derivative control method, a combination of sliding mode control and fuzzy logic, i.e., the fuzzy sliding mode control, is developed in this work. The fuzzy sliding mode control is free of modeling of system dynamics, thus it is robust to couplings and uncertainties within the exoskeleton dynamical model. Moreover, due to its simplicity in control algorithm design, it can be implemented for real-time and embedded control. Experiment results on the wheelchair exoskeleton are provided to show the effectiveness of the fuzzy sliding mode control approach.
UR - http://www.scopus.com/inward/record.url?scp=85085864322&partnerID=8YFLogxK
U2 - 10.1109/CIS-RAM47153.2019.9095811
DO - 10.1109/CIS-RAM47153.2019.9095811
M3 - Conference article published in proceeding or book
AN - SCOPUS:85085864322
T3 - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
SP - 12
EP - 17
BT - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
Y2 - 18 November 2019 through 20 November 2019
ER -