Nonlinear Disturbance Observer Based Sliding Mode Control of a Human-Driven Knee Joint Orthosis

Autor: Hala Rifai, Samer Mohammed, Yacine Amirat, Weiguang Huo, Jian Huang
Přispěvatelé: SIRIUS, Laboratoire Images, Signaux et Systèmes Intelligents (LISSI), Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12)-Université Paris-Est Créteil Val-de-Marne - Paris 12 (UPEC UP12), School of Automation [HUST], Huazhong University of Science and Technology [Wuhan] (HUST), Laboratoire Images, Signaux et Systèmes Intelligents ( LISSI ), Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ) -Université Paris-Est Créteil Val-de-Marne - Paris 12 ( UPEC UP12 ), Sino French Research Center for Biomedical Imaging ( HIT-INSA ), Institut National des Sciences Appliquées de Lyon ( INSA Lyon ), Université de Lyon-Institut National des Sciences Appliquées ( INSA ) -Université de Lyon-Institut National des Sciences Appliquées ( INSA ) -Harbin Institute of Technology ( HIT ), Centre de Recherche en Acquisition et Traitement de l'Image pour la Santé ( CREATIS ), Université Claude Bernard Lyon 1 ( UCBL ), Université de Lyon-Université de Lyon-Institut National des Sciences Appliquées de Lyon ( INSA Lyon ), Université de Lyon-Institut National des Sciences Appliquées ( INSA ) -Institut National des Sciences Appliquées ( INSA ) -Hospices Civils de Lyon ( HCL ) -Université Jean Monnet [Saint-Étienne] ( UJM ) -Institut National de la Santé et de la Recherche Médicale ( INSERM ) -Centre National de la Recherche Scientifique ( CNRS ), Amirat, Yacine
Jazyk: angličtina
Rok vydání: 2016
Předmět:
Lyapunov function
0209 industrial biotechnology
Observer (quantum physics)
Nonlinear disturbance observer
Computer science
General Mathematics
Terminal sliding mode
Robust terminal sliding mode control
02 engineering and technology
Sliding mode control
symbols.namesake
020901 industrial engineering & automation
Exponential stability
Robustness (computer science)
Control theory
[INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering
[ INFO.INFO-AU ] Computer Science [cs]/Automatic Control Engineering
0202 electrical engineering
electronic engineering
information engineering
Torque
[INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]
State observer
Simulation
ComputingMilieux_MISCELLANEOUS
[INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO]
[ INFO.INFO-RB ] Computer Science [cs]/Robotics [cs.RO]
Computer Science Applications
Nonlinear system
Knee joint orthosis
Control and Systems Engineering
Control system
symbols
020201 artificial intelligence & image processing
[INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering
Software
Zdroj: Robotics and Autonomous Systems
Robotics and Autonomous Systems, Elsevier, 2016, Part A, 75, pp.41-49
Robotics and Autonomous Systems, Elsevier
ISSN: 0921-8890
1872-793X
Popis: The present paper deals with the control of a knee joint orthosis intended to be used for rehabilitation and assistive purposes. A model, integrating human shank and orthosis, is presented. To reduce the influence of the uncertainties in muscular torque modeling on the system control, a nonlinear observer is proposed to estimate the muscular torque developed by the wearer. Additionally, a robust terminal sliding mode control approach combined with the nonlinear observer is presented. To illustrate the effectiveness of the proposed control method, a comparison with two control methods, basic sliding mode and sliding mode with nonlinear observer, are also given. The asymptotic stability of the presented approaches and observer convergence are proved by means of a Lyapunov analysis. Furthermore, the proof of advantage of the robust terminal sliding mode control method with the nonlinear observer (improving the tracking precision and reducing the required time for eliminating external disturbances) is proposed as well. The experiment results show that the robust terminal sliding mode control approach combined with the nonlinear observer has a significant advantage with respect to the position tracking and robustness regarding the modeling identification errors and external disturbances. This paper deals with the control of a knee joint exoskeleton for rehabilitation purposes.An observer is proposed to estimate the muscular torque developed by the wearer.A robust terminal sliding mode control method combined with the observer is presented.Asymptotic stability is proved by means of a Lyapunov analysis.Experiment tests were conducted with three subjects.
Databáze: OpenAIRE
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