Robustness analysis of an upper-limb exoskeleton using Monte Carlo simulation

摘要

This document presents a robust adaptive sliding mode controller of an upper limb exoskeleton used for rehabilitation. The considered system is a robot with two degrees of freedom. A comparative study of the proposed adaptive sliding mode technique with the adaptive and sliding mode controllers is done. A Monte Carlo simulation is realized to analyze respectively the robustness and the stability of the controllers against parametric uncertainties, matched and unmatched disturbances. Simulation results are provided to prove the performances and the effectiveness of the proposed adaptive sliding mode algorithm.