Non-singular terminal sliding mode controller: Application to an actuated exoskeleton


          

刊名：Mechatronics: The Science of Intelligent Machines
作者：Madani, T.（Univ Paris Est Creteil, LISSI Lab, Creteil, France）
Daachi, B.（Univ Paris 08, LIASD Lab, St Denis, France）
Djouani, K.（Univ Paris Est Creteil, LISSI Lab, Creteil, France）
刊号：736C0117
ISSN：0957-4158
出版年：2016
年卷期：2016, vol.33
页码：136-145
总页数：10
分类号：TN0
关键词：Nonlinear control；Non-singular terminal sliding mode；Finite-time convergence；Exoskeleton
参考中译：
语种：eng
文摘：This paper presents a robust controller of an active orthosis used for rehabilitation purposes. The system is composed of the orthosis worn by the shank and has a complex dynamical model. No prior knowledge is considered on the dynamical model and the flexion/extension movements considered are of sinusoidal form and are generally defined by the doctor. The used non-singular terminal sliding mode technique permits to have a finite time convergence. The experimental results have been conducted online on an appropriate dummy and then on three healthy subjects. A comparison of performances obtained by the proposed approach with those obtained by a conventional controller has also been realized. Several situations have been considered to test the robustness and it has been concluded with the effectiveness of the developed controller. (C) 2015 Elsevier Ltd. All rights reserved.



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