MATEC Web Conf.
Volume 261, 20195ième Congrès International Francophone de Mécanique Avancée (CIFMA 2018)
|Number of page(s)||8|
|Section||Robotics, Automation, and Measurements|
|Published online||29 January 2019|
Adaptive sliding mode control with gravity compensation: Application to an upper-limb exoskeleton system
1 RISC laboratory, National Engineering School of Tunis, University of Tunis El-Manar Tunis, Tunisia
2 RISC laboratory, National Engineering School of Tunis, University of Tunis El-Manar Tunis, Tunisia
3 RISC laboratory, National Engineering School of Tunis, University of Tunis El-Manar Tunis, Tunisia
This paper presents a robust control algorithm with gravity compensation in presence of parametric uncertainties. The application deals with an upper limb exoskeleton system, aimed for a rehabilitation application. The treated system is an robot with two degrees of freedom acting on the flexion / extension movement of the shoulder and elbow. An adaptive sliding mode algorithm with gravity compensation has been developed to control the upper limb exoskeleton system. A Stability study is realized. Then, a robustness analysis in the presence of parametric uncertainties using Monte Carlo simulation is developed. To prove the performance of the gravity compensation approach, a comparison study is done. Simulation results are presented to highlight the performances and the effectiveness of the proposed controller using gravity compensation.
© Owned by the authors, published by EDP Sciences, 2019
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