Fuzzy sliding mode control for trajectory tracking and force compensation of a robotic haptic interface

摘要

This paper presents an integration of successfully tried out robust control techniques applied to trajectory tracking of a mechanical manipulator which operates as a robotic rehabilitation system for upper limb diseases. This controller combines the robustness of the sliding mode approach with the efficiency and adaptability of the fuzzy logic. Furthermore, this control law includes force compensation to yield haptic interaction with the patient during the rehabilitation tasks. The satisfying simulation results not only encourage implementing this controller on high performance hardware, but they were also useful to validate the selected actuators and led the design and development of the power electronics for the robotic workstation.