Sliding mode control of an exoskeleton robot based on time delay estimation

B. Brahmi; M. Saad; C. Ochoa Luna; P. S. Archambault; M. H. Rahman

doi:10.1109/ICVR.2017.8007513

Sliding mode control of an exoskeleton robot based on time delay estimation

B. Brahmi
, M. Saad
, C. Ochoa Luna
, P. S. Archambault
, M. H. Rahman

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

17 Scopus citations

Abstract

We present an adaptive control based on robust nonlinear sliding mode and time delay estimation. This controller allows a seven degrees-of-freedom arm exoskeleton robot dealing with unknown nonlinear uncertain dynamics and external disturbances. The controller is developed in order to provide passive rehabilitation. The closed loop stability of the overall system is proved based on Lyapunov theory. The proposed controller is evaluated with healthy subjects. Experiments results show the efficiency and feasibility of the controller.

Original language	English
Title of host publication	2017 International Conference on Virtual Rehabilitation, ICVR 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781509030538
DOIs	https://doi.org/10.1109/ICVR.2017.8007513
State	Published - 10 Aug 2017
Externally published	Yes
Event	2017 International Conference on Virtual Rehabilitation, ICVR 2017 - Montreal, Canada Duration: 19 Jun 2017 → 22 Jun 2017

Publication series

Name	International Conference on Virtual Rehabilitation, ICVR
Volume	2017-June
ISSN (Electronic)	2331-9569

Conference

Conference	2017 International Conference on Virtual Rehabilitation, ICVR 2017
Country/Territory	Canada
City	Montreal
Period	19/06/17 → 22/06/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

adaptive control
passive rehabilitation
rehabilitation robot
time delay estimation

ASJC Scopus subject areas

Electrical and Electronic Engineering
Computer Networks and Communications

Access to Document

10.1109/ICVR.2017.8007513

Cite this

Brahmi, B., Saad, M., Luna, C. O., Archambault, P. S., & Rahman, M. H. (2017). Sliding mode control of an exoskeleton robot based on time delay estimation. In 2017 International Conference on Virtual Rehabilitation, ICVR 2017 Article 8007513 (International Conference on Virtual Rehabilitation, ICVR; Vol. 2017-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICVR.2017.8007513

@inproceedings{e4e77484009f489db810306c11d77a1f,

title = "Sliding mode control of an exoskeleton robot based on time delay estimation",

abstract = "We present an adaptive control based on robust nonlinear sliding mode and time delay estimation. This controller allows a seven degrees-of-freedom arm exoskeleton robot dealing with unknown nonlinear uncertain dynamics and external disturbances. The controller is developed in order to provide passive rehabilitation. The closed loop stability of the overall system is proved based on Lyapunov theory. The proposed controller is evaluated with healthy subjects. Experiments results show the efficiency and feasibility of the controller.",

keywords = "adaptive control, passive rehabilitation, rehabilitation robot, time delay estimation",

author = "B. Brahmi and M. Saad and Luna, \{C. Ochoa\} and Archambault, \{P. S.\} and Rahman, \{M. H.\}",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 International Conference on Virtual Rehabilitation, ICVR 2017 ; Conference date: 19-06-2017 Through 22-06-2017",

year = "2017",

month = aug,

day = "10",

doi = "10.1109/ICVR.2017.8007513",

language = "English",

series = "International Conference on Virtual Rehabilitation, ICVR",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Brahmi, B, Saad, M, Luna, CO, Archambault, PS & Rahman, MH 2017, Sliding mode control of an exoskeleton robot based on time delay estimation. in 2017 International Conference on Virtual Rehabilitation, ICVR 2017., 8007513, International Conference on Virtual Rehabilitation, ICVR, vol. 2017-June, Institute of Electrical and Electronics Engineers Inc., 2017 International Conference on Virtual Rehabilitation, ICVR 2017, Montreal, Canada, 19/06/17. https://doi.org/10.1109/ICVR.2017.8007513

Sliding mode control of an exoskeleton robot based on time delay estimation. / Brahmi, B.; Saad, M.; Luna, C. Ochoa et al.
2017 International Conference on Virtual Rehabilitation, ICVR 2017. Institute of Electrical and Electronics Engineers Inc., 2017. 8007513 (International Conference on Virtual Rehabilitation, ICVR; Vol. 2017-June).

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

TY - GEN

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AU - Saad, M.

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AU - Archambault, P. S.

AU - Rahman, M. H.

PY - 2017/8/10

Y1 - 2017/8/10

N2 - We present an adaptive control based on robust nonlinear sliding mode and time delay estimation. This controller allows a seven degrees-of-freedom arm exoskeleton robot dealing with unknown nonlinear uncertain dynamics and external disturbances. The controller is developed in order to provide passive rehabilitation. The closed loop stability of the overall system is proved based on Lyapunov theory. The proposed controller is evaluated with healthy subjects. Experiments results show the efficiency and feasibility of the controller.

AB - We present an adaptive control based on robust nonlinear sliding mode and time delay estimation. This controller allows a seven degrees-of-freedom arm exoskeleton robot dealing with unknown nonlinear uncertain dynamics and external disturbances. The controller is developed in order to provide passive rehabilitation. The closed loop stability of the overall system is proved based on Lyapunov theory. The proposed controller is evaluated with healthy subjects. Experiments results show the efficiency and feasibility of the controller.

KW - adaptive control

KW - passive rehabilitation

KW - rehabilitation robot

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DO - 10.1109/ICVR.2017.8007513

M3 - Conference contribution

AN - SCOPUS:85034258608

T3 - International Conference on Virtual Rehabilitation, ICVR

BT - 2017 International Conference on Virtual Rehabilitation, ICVR 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2017 International Conference on Virtual Rehabilitation, ICVR 2017

Y2 - 19 June 2017 through 22 June 2017

ER -

Sliding mode control of an exoskeleton robot based on time delay estimation

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this