New Adaptive Sliding Mode for Unperturbed Forearm and Wrist Rehabilitation Robot

Brahim Brahmi; Ibrahim El Bojairami; Tanvir Ahmed; Mohammad Habibur Rahman; Asif Al Zubayer Swapnil; Javier Sanjuan De Caro

doi:10.1109/SSD52085.2021.9429302

New Adaptive Sliding Mode for Unperturbed Forearm and Wrist Rehabilitation Robot

Brahim Brahmi
, Ibrahim El Bojairami
, Tanvir Ahmed
, Mohammad Habibur Rahman
, Asif Al Zubayer Swapnil
, Javier Sanjuan De Caro

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

3 Scopus citations

Abstract

The paper put forth presents the design and validation of a novel adaptive, variable gain, sliding mode control (SMC) reaching law, for the purpose of controlling unperturbed nonlinear systems. The novelty of this law stems from its capability to overcome the main limitations involved with conventional SMCs. In contrast to existing reaching laws, the presented law is potentially able to achieve high system performance, reduce the chattering problem significantly, and ensure fast convergence of system trajectories to equilibrium. The designed law integrates the features of both, the exponential reaching law (ERL) and the power rate reaching law (PRL), meanwhile, it overcomes their limitations. Simulation and comparison case studies against ERL and PRL are also carried out with Forearm and Wrist Rehabilitation Robot to validate the effectiveness and advantages of the proposed reaching law scheme (Proposed RL).

Original language	English
Title of host publication	18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1160-1165
Number of pages	6
ISBN (Electronic)	9781665414937
DOIs	https://doi.org/10.1109/SSD52085.2021.9429302
State	Published - 22 Mar 2021
Externally published	Yes

Publication series

Name	18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

ASJC Scopus subject areas

Artificial Intelligence
Computer Networks and Communications
Computer Science Applications
Signal Processing
Electrical and Electronic Engineering

Access to Document

10.1109/SSD52085.2021.9429302

Cite this

Brahmi, B., El Bojairami, I., Ahmed, T., Rahman, M. H., Swapnil, A. A. Z., & De Caro, J. S. (2021). New Adaptive Sliding Mode for Unperturbed Forearm and Wrist Rehabilitation Robot. In 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021 (pp. 1160-1165). Article 9429302 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD52085.2021.9429302

Brahmi, Brahim ; El Bojairami, Ibrahim ; Ahmed, Tanvir et al. / New Adaptive Sliding Mode for Unperturbed Forearm and Wrist Rehabilitation Robot. 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 1160-1165 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021).

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title = "New Adaptive Sliding Mode for Unperturbed Forearm and Wrist Rehabilitation Robot",

abstract = "The paper put forth presents the design and validation of a novel adaptive, variable gain, sliding mode control (SMC) reaching law, for the purpose of controlling unperturbed nonlinear systems. The novelty of this law stems from its capability to overcome the main limitations involved with conventional SMCs. In contrast to existing reaching laws, the presented law is potentially able to achieve high system performance, reduce the chattering problem significantly, and ensure fast convergence of system trajectories to equilibrium. The designed law integrates the features of both, the exponential reaching law (ERL) and the power rate reaching law (PRL), meanwhile, it overcomes their limitations. Simulation and comparison case studies against ERL and PRL are also carried out with Forearm and Wrist Rehabilitation Robot to validate the effectiveness and advantages of the proposed reaching law scheme (Proposed RL).",

author = "Brahim Brahmi and \{El Bojairami\}, Ibrahim and Tanvir Ahmed and Rahman, \{Mohammad Habibur\} and Swapnil, \{Asif Al Zubayer\} and \{De Caro\}, \{Javier Sanjuan\}",

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doi = "10.1109/SSD52085.2021.9429302",

language = "English",

series = "18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021",

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Brahmi, B, El Bojairami, I, Ahmed, T, Rahman, MH, Swapnil, AAZ & De Caro, JS 2021, New Adaptive Sliding Mode for Unperturbed Forearm and Wrist Rehabilitation Robot. in 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021., 9429302, 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021, Institute of Electrical and Electronics Engineers Inc., pp. 1160-1165. https://doi.org/10.1109/SSD52085.2021.9429302

New Adaptive Sliding Mode for Unperturbed Forearm and Wrist Rehabilitation Robot. / Brahmi, Brahim; El Bojairami, Ibrahim; Ahmed, Tanvir et al.
18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 1160-1165 9429302 (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021).

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

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AU - Brahmi, Brahim

AU - El Bojairami, Ibrahim

AU - Ahmed, Tanvir

AU - Rahman, Mohammad Habibur

AU - Swapnil, Asif Al Zubayer

AU - De Caro, Javier Sanjuan

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N2 - The paper put forth presents the design and validation of a novel adaptive, variable gain, sliding mode control (SMC) reaching law, for the purpose of controlling unperturbed nonlinear systems. The novelty of this law stems from its capability to overcome the main limitations involved with conventional SMCs. In contrast to existing reaching laws, the presented law is potentially able to achieve high system performance, reduce the chattering problem significantly, and ensure fast convergence of system trajectories to equilibrium. The designed law integrates the features of both, the exponential reaching law (ERL) and the power rate reaching law (PRL), meanwhile, it overcomes their limitations. Simulation and comparison case studies against ERL and PRL are also carried out with Forearm and Wrist Rehabilitation Robot to validate the effectiveness and advantages of the proposed reaching law scheme (Proposed RL).

AB - The paper put forth presents the design and validation of a novel adaptive, variable gain, sliding mode control (SMC) reaching law, for the purpose of controlling unperturbed nonlinear systems. The novelty of this law stems from its capability to overcome the main limitations involved with conventional SMCs. In contrast to existing reaching laws, the presented law is potentially able to achieve high system performance, reduce the chattering problem significantly, and ensure fast convergence of system trajectories to equilibrium. The designed law integrates the features of both, the exponential reaching law (ERL) and the power rate reaching law (PRL), meanwhile, it overcomes their limitations. Simulation and comparison case studies against ERL and PRL are also carried out with Forearm and Wrist Rehabilitation Robot to validate the effectiveness and advantages of the proposed reaching law scheme (Proposed RL).

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Brahmi B, El Bojairami I, Ahmed T, Rahman MH, Swapnil AAZ, De Caro JS. New Adaptive Sliding Mode for Unperturbed Forearm and Wrist Rehabilitation Robot. In 18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 1160-1165. 9429302. (18th IEEE International Multi-Conference on Systems, Signals and Devices, SSD 2021). doi: 10.1109/SSD52085.2021.9429302

New Adaptive Sliding Mode for Unperturbed Forearm and Wrist Rehabilitation Robot

Abstract

Publication series

Bibliographical note

ASJC Scopus subject areas

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Cite this