Intelligent Nonsingular Fast Terminal Sliding Mode Control for Lower Limb Rehabilitation System
| Autor: | Jia-Hung Chiou, 邱嘉鴻 |
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| Rok vydání: | 2013 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 101 In this study, we design and manufacture the lower limb rehabilitation system for patient who needs lower limb rehabilitation, and proposed two treatment modes: (1) Passive motion mode (2) Active motion mode. Passive motion mode applies to patients with early rehabilitation, this mode can bring the patient''s lower limb. The rehabilitation system to maintain or increase the activity of the knee and muscle movement. Active motion mode enable patients to independently move the lower limb. The rehabilitation system give a force feedback to the patient''s lower limb, increasing the patient''s lower limb muscle strength and endurance training. In this study, we using the robust Nonsingular terminal sliding mode control (NTSMC) and Nonsingular fast terminal sliding mode control system based on the state (NTFSMC-s) to achieve trajectory control, but the NTSMC and the NFTSMC-s have discontinuous control effort that make a chattering phenomenon. So, we proposed an Intelligent nonsingular terminal sliding mode control (INTSMC) and an Intelligent nonsingular fast terminal sliding mode control based on state (INFTSMC-s) to estimate the chattering phenomenon, this intelligent controller using the recurrent Chebyshev neural network (RCNN) estimator to estimate the uncertainty of system and disturbances. Active motion mode using the position-base impedance control (PBIC).We using the force sensor give a signal feedback to PBIC, and PBIC give a force to patient''s lower limb to achieve the muscle training. It can modulate the strength training of active-motion mode through adjusting the parameters of PBIC. The PBIC improve the passive-motion mode increase the human safely with the rehabilitation system. In other words, when the force sensor measured a value cross the range of safely value, the rehabilitation system adjusts the trajectory to protect the patient''s low limb immediately. Finally, the simulation and experiment result prove the rehabilitation system have different parameter of patient''s lower limb still capacity and tracking trajectory ability.This study proposed the INTSMC and INFTSMC-s compared with Intellignet sliding mode control (ISMC).The INTSMC and INFTSMC-s have better robustness and tracking trajectory.Active motion mode experiment shows the strength training respond by adjusting the parameters of PBIC. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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