Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation

B. Brahmi; M. Saad; Cristobal Ochoa Luna; M. H. Rahman

doi:10.1109/SSD.2017.8167002

Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation

B. Brahmi
, M. Saad
, Cristobal Ochoa Luna
, M. H. Rahman

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

1 Scopus citations

Abstract

This paper presents a Cartesian adaptive control based on a robust Sliding Mode and Time Delay Estimation (CSMTDE) for controlling a redundant exoskeleton robot called ETS-MARSE subject to uncertain nonlinear dynamics and external forces. The robustness and accuracy are achieved by selecting a sliding Cartesian surface and a sliding joint surface. The combination between them is done by the nonlinear Jacobian matrix. The stability of the closed loop system is solved systematically, ensuring asymptotic convergence of the output tracking errors. Simulation results manifest the efficiency of the suggested control to provide an excellent performance despite the presence of dynamic uncertainties and external disturbances.

Original language	English
Title of host publication	2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	817-822
Number of pages	6
ISBN (Electronic)	9781538631751
DOIs	https://doi.org/10.1109/SSD.2017.8167002
State	Published - 4 Dec 2017
Externally published	Yes

Publication series

Name	2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017
Volume	2017-January

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

Adaptive control
Lyapunov function
Rehabilitation robots
Time delay estimation

ASJC Scopus subject areas

Computer Science Applications
Signal Processing
Control and Optimization
Instrumentation

Access to Document

10.1109/SSD.2017.8167002

Cite this

Brahmi, B., Saad, M., Luna, C. O., & Rahman, M. H. (2017). Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation. In 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017 (pp. 817-822). (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD.2017.8167002

Brahmi, B. ; Saad, M. ; Luna, Cristobal Ochoa et al. / Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation. 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 817-822 (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017).

@inproceedings{f5c1d54f6ed5471b85a79f46f720ac26,

title = "Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation",

abstract = "This paper presents a Cartesian adaptive control based on a robust Sliding Mode and Time Delay Estimation (CSMTDE) for controlling a redundant exoskeleton robot called ETS-MARSE subject to uncertain nonlinear dynamics and external forces. The robustness and accuracy are achieved by selecting a sliding Cartesian surface and a sliding joint surface. The combination between them is done by the nonlinear Jacobian matrix. The stability of the closed loop system is solved systematically, ensuring asymptotic convergence of the output tracking errors. Simulation results manifest the efficiency of the suggested control to provide an excellent performance despite the presence of dynamic uncertainties and external disturbances.",

keywords = "Adaptive control, Lyapunov function, Rehabilitation robots, Time delay estimation",

author = "B. Brahmi and M. Saad and Luna, \{Cristobal Ochoa\} and Rahman, \{M. H.\}",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.",

year = "2017",

month = dec,

day = "4",

doi = "10.1109/SSD.2017.8167002",

language = "English",

series = "2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017",

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Brahmi, B, Saad, M, Luna, CO & Rahman, MH 2017, Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation. in 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017, vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 817-822. https://doi.org/10.1109/SSD.2017.8167002

Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation. / Brahmi, B.; Saad, M.; Luna, Cristobal Ochoa et al.
2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 817-822 (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017; Vol. 2017-January).

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

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N2 - This paper presents a Cartesian adaptive control based on a robust Sliding Mode and Time Delay Estimation (CSMTDE) for controlling a redundant exoskeleton robot called ETS-MARSE subject to uncertain nonlinear dynamics and external forces. The robustness and accuracy are achieved by selecting a sliding Cartesian surface and a sliding joint surface. The combination between them is done by the nonlinear Jacobian matrix. The stability of the closed loop system is solved systematically, ensuring asymptotic convergence of the output tracking errors. Simulation results manifest the efficiency of the suggested control to provide an excellent performance despite the presence of dynamic uncertainties and external disturbances.

AB - This paper presents a Cartesian adaptive control based on a robust Sliding Mode and Time Delay Estimation (CSMTDE) for controlling a redundant exoskeleton robot called ETS-MARSE subject to uncertain nonlinear dynamics and external forces. The robustness and accuracy are achieved by selecting a sliding Cartesian surface and a sliding joint surface. The combination between them is done by the nonlinear Jacobian matrix. The stability of the closed loop system is solved systematically, ensuring asymptotic convergence of the output tracking errors. Simulation results manifest the efficiency of the suggested control to provide an excellent performance despite the presence of dynamic uncertainties and external disturbances.

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Brahmi B, Saad M, Luna CO, Rahman MH. Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation. In 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 817-822. (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017). doi: 10.1109/SSD.2017.8167002

Cartesian sliding mode tracking control of an exoskeleton robot based on time delay estimation

Abstract

Publication series

Bibliographical note

Keywords

ASJC Scopus subject areas

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Cite this