A New Integral Second Order Terminal Sliding Mode Control with Time Delay Estimation for an Exoskeleton Robot with Dynamics Uncertainties

Brahim Brahmi; Maarouf Saad; Cristobal Ochoa-Luna; Stefano Di Gennero; Mohammed H. Rahman

doi:10.11159/cdsr18.113

A New Integral Second Order Terminal Sliding Mode Control with Time Delay Estimation for an Exoskeleton Robot with Dynamics Uncertainties

Brahim Brahmi, Maarouf Saad, Cristobal Ochoa-Luna, Stefano Di Gennero, Mohammed H. Rahman

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

This paper presents a new Integral Second-Order Terminal Sliding Mode Control incorporating Time Delay Estimation applied to passive rehabilitation protocols of an exoskeleton robot with dynamics uncertainties and unknown bounded disturbances. The use of second-order sliding mode is due to its attractive characteristics of accuracy, attenuation of chattering and fast convergence. However, its problem is that the unknown dynamics of the exoskeleton robot and external disturbances caused by its different wearers can be amplified by the second derivative of the sliding surface, which leads to instability of the exoskeleton system. Using Time Delay Estimation will estimate the uncertain dynamics while overcoming the main limitation of second-order sliding mode. The stability analysis is formulated and proved based on Lyapunov function. Experimental results with a healthy subject confirm the effectiveness of the proposed control.

Original language	English
Title of host publication	Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018
Editors	Mojtaba Ahmadi, Goldie Nejat
Publisher	Avestia Publishing
ISBN (Print)	9781927877432
DOIs	https://doi.org/10.11159/cdsr18.113
State	Published - 2018
Externally published	Yes
Event	5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018 - Niagara Falls, Canada Duration: 7 Jun 2018 → 9 Jun 2018

Publication series

Name	International Conference of Control, Dynamic Systems, and Robotics
ISSN (Electronic)	2368-5433

Conference

Conference	5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018
Country/Territory	Canada
City	Niagara Falls
Period	7/06/18 → 9/06/18

Bibliographical note

Publisher Copyright:
© 2018, Avestia Publishing. All rights reserved.

Keywords

Passive Assistive Motion
Rehabilitation Robots
Second Order Sliding Mode
Time Delay Estimation

ASJC Scopus subject areas

Artificial Intelligence
Control and Optimization
Control and Systems Engineering

Access to Document

10.11159/cdsr18.113

Cite this

Brahmi, B., Saad, M., Ochoa-Luna, C., Di Gennero, S., & Rahman, M. H. (2018). A New Integral Second Order Terminal Sliding Mode Control with Time Delay Estimation for an Exoskeleton Robot with Dynamics Uncertainties. In M. Ahmadi, & G. Nejat (Eds.), Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018 (International Conference of Control, Dynamic Systems, and Robotics). Avestia Publishing. https://doi.org/10.11159/cdsr18.113

Brahmi, Brahim ; Saad, Maarouf ; Ochoa-Luna, Cristobal et al. / A New Integral Second Order Terminal Sliding Mode Control with Time Delay Estimation for an Exoskeleton Robot with Dynamics Uncertainties. Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018. editor / Mojtaba Ahmadi ; Goldie Nejat. Avestia Publishing, 2018. (International Conference of Control, Dynamic Systems, and Robotics).

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title = "A New Integral Second Order Terminal Sliding Mode Control with Time Delay Estimation for an Exoskeleton Robot with Dynamics Uncertainties",

abstract = "This paper presents a new Integral Second-Order Terminal Sliding Mode Control incorporating Time Delay Estimation applied to passive rehabilitation protocols of an exoskeleton robot with dynamics uncertainties and unknown bounded disturbances. The use of second-order sliding mode is due to its attractive characteristics of accuracy, attenuation of chattering and fast convergence. However, its problem is that the unknown dynamics of the exoskeleton robot and external disturbances caused by its different wearers can be amplified by the second derivative of the sliding surface, which leads to instability of the exoskeleton system. Using Time Delay Estimation will estimate the uncertain dynamics while overcoming the main limitation of second-order sliding mode. The stability analysis is formulated and proved based on Lyapunov function. Experimental results with a healthy subject confirm the effectiveness of the proposed control.",

keywords = "Passive Assistive Motion, Rehabilitation Robots, Second Order Sliding Mode, Time Delay Estimation",

author = "Brahim Brahmi and Maarouf Saad and Cristobal Ochoa-Luna and \{Di Gennero\}, Stefano and Rahman, \{Mohammed H.\}",

note = "Publisher Copyright: {\textcopyright} 2018, Avestia Publishing. All rights reserved.; 5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018 ; Conference date: 07-06-2018 Through 09-06-2018",

year = "2018",

doi = "10.11159/cdsr18.113",

language = "English",

isbn = "9781927877432",

series = "International Conference of Control, Dynamic Systems, and Robotics",

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Brahmi, B, Saad, M, Ochoa-Luna, C, Di Gennero, S & Rahman, MH 2018, A New Integral Second Order Terminal Sliding Mode Control with Time Delay Estimation for an Exoskeleton Robot with Dynamics Uncertainties. in M Ahmadi & G Nejat (eds), Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018. International Conference of Control, Dynamic Systems, and Robotics, Avestia Publishing, 5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018, Niagara Falls, Canada, 7/06/18. https://doi.org/10.11159/cdsr18.113

A New Integral Second Order Terminal Sliding Mode Control with Time Delay Estimation for an Exoskeleton Robot with Dynamics Uncertainties. / Brahmi, Brahim; Saad, Maarouf; Ochoa-Luna, Cristobal et al.
Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018. ed. / Mojtaba Ahmadi; Goldie Nejat. Avestia Publishing, 2018. (International Conference of Control, Dynamic Systems, and Robotics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A New Integral Second Order Terminal Sliding Mode Control with Time Delay Estimation for an Exoskeleton Robot with Dynamics Uncertainties

AU - Brahmi, Brahim

AU - Saad, Maarouf

AU - Ochoa-Luna, Cristobal

AU - Di Gennero, Stefano

AU - Rahman, Mohammed H.

PY - 2018

Y1 - 2018

N2 - This paper presents a new Integral Second-Order Terminal Sliding Mode Control incorporating Time Delay Estimation applied to passive rehabilitation protocols of an exoskeleton robot with dynamics uncertainties and unknown bounded disturbances. The use of second-order sliding mode is due to its attractive characteristics of accuracy, attenuation of chattering and fast convergence. However, its problem is that the unknown dynamics of the exoskeleton robot and external disturbances caused by its different wearers can be amplified by the second derivative of the sliding surface, which leads to instability of the exoskeleton system. Using Time Delay Estimation will estimate the uncertain dynamics while overcoming the main limitation of second-order sliding mode. The stability analysis is formulated and proved based on Lyapunov function. Experimental results with a healthy subject confirm the effectiveness of the proposed control.

AB - This paper presents a new Integral Second-Order Terminal Sliding Mode Control incorporating Time Delay Estimation applied to passive rehabilitation protocols of an exoskeleton robot with dynamics uncertainties and unknown bounded disturbances. The use of second-order sliding mode is due to its attractive characteristics of accuracy, attenuation of chattering and fast convergence. However, its problem is that the unknown dynamics of the exoskeleton robot and external disturbances caused by its different wearers can be amplified by the second derivative of the sliding surface, which leads to instability of the exoskeleton system. Using Time Delay Estimation will estimate the uncertain dynamics while overcoming the main limitation of second-order sliding mode. The stability analysis is formulated and proved based on Lyapunov function. Experimental results with a healthy subject confirm the effectiveness of the proposed control.

KW - Passive Assistive Motion

KW - Rehabilitation Robots

KW - Second Order Sliding Mode

KW - Time Delay Estimation

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DO - 10.11159/cdsr18.113

M3 - Conference contribution

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SN - 9781927877432

T3 - International Conference of Control, Dynamic Systems, and Robotics

BT - Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018

A2 - Ahmadi, Mojtaba

A2 - Nejat, Goldie

PB - Avestia Publishing

T2 - 5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018

Y2 - 7 June 2018 through 9 June 2018

ER -

Brahmi B, Saad M, Ochoa-Luna C, Di Gennero S, Rahman MH. A New Integral Second Order Terminal Sliding Mode Control with Time Delay Estimation for an Exoskeleton Robot with Dynamics Uncertainties. In Ahmadi M, Nejat G, editors, Proceedings of the 5th International Conference of Control, Dynamic Systems, and Robotics, CDSR 2018. Avestia Publishing. 2018. (International Conference of Control, Dynamic Systems, and Robotics). doi: 10.11159/cdsr18.113

A New Integral Second Order Terminal Sliding Mode Control with Time Delay Estimation for an Exoskeleton Robot with Dynamics Uncertainties

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this