Robust control of an exoskeleton-upper limb system: a comparative study
by Sana Bembli; Nahla Khraief Haddad; Safya Belghith
International Journal of Mechatronics and Automation (IJMA), Vol. 8, No. 4, 2021

Abstract: This paper deals with a new control approach of an exoskeleton-upper limb system. The considered system is a two-DoF robot in interaction with an upper limb used for rehabilitation. The objective is to control the flexion/extension movement of the shoulder and the elbow joints in presence of disturbances. First, the modelling and the control of the system using different laws were made, and a stability study is realised. Then, a comparison study between these different algorithms was done. To prove the performance of the tested controllers, a robustness analysis was needed. For that, a state of the art of different robustness analysis methods was presented. The application and the comparison between these methods were realised to obtain the most robust one. Finally, the control of the exoskeleton-upper limb system by the model free terminal sliding mode is developed. A Monte Carlo study is done. The performance and the robustness of the model free terminal sliding mode algorithm in presence of disturbances and uncertainties are provided by simulation results.

Online publication date: Tue, 18-Jan-2022

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