An exoskeleton - upper limb system control using a robust model free terminal sliding mode

Abstract

This work presents a new model free terminal sliding mode control of an exoskeleton-upper limb system. The considered system is a 2 DoF robot in interaction with an upper limb used for rehabilitation. The objective is to control the flexion/ extension movement of the shoulder and the elbow joints in presence of disturbances. First, the modeling and the control of the system using the terminal sliding mode and the model free algorithms were made. Then, a combination between these two controllers was done to get the new model free terminal sliding mode approach. A stability study is realized. To prove the performance of the tested controller, a robustness analysis was needed. The performance and the robustness of the proposed controller in presence of matched uncertainties are provided by simulation results.