Adaptive Neural Network-Based Fixed-Time Tracking Controller for Disabilities Exoskeleton Wheelchair Robotic System

摘要

In this paper, an adaptive neural network approach is developed based on the integral nonsingular terminal sliding mode control method, with the aim of fixed-time position tracking control of a wheelchair upper-limb exoskeleton robot system under external disturbance. The dynamical equation of the upper-limb exoskeleton robot system is obtained using a free and typical model of the robotic manipulator. Afterward, the position tracking error between the actual and desired values of the upper-limb exoskeleton robot system is defined. Then, the integral nonsingular terminal sliding surface based on tracking error is proposed for fixed-time convergence of the tracking error. Furthermore, the adaptive neural network procedure is proposed to compensate for the external disturbance which exists in the upper-limb exoskeleton robotic system. Finally, to demonstrate the effectiveness of the proposed method, simulation results using MATLAB/Simulink are provided.