Fuzzy Sliding Mode Control of An Upper-Limb Exoskeleton Robot

Long Teng, Shaoping Bai

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages12-17
Number of pages6
ISBN (Electronic)9781728134581
DOIs
Publication statusPublished - Nov 2019
Externally publishedYes
Event9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019 - Bangkok, Thailand
Duration: 18 Nov 201920 Nov 2019

Publication series

NameProceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019

Conference

Conference9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
Country/TerritoryThailand
CityBangkok
Period18/11/1920/11/19

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

Fingerprint

Dive into the research topics of 'Fuzzy Sliding Mode Control of An Upper-Limb Exoskeleton Robot'. Together they form a unique fingerprint.

Cite this