Analysis and Reduction of Chattering in Sliding Mode Control for Wearable Robots

DOI

10.2991/mce-14.2014.129How to use a DOI?

Keywords

wearable robots; sliding mode control; chattering reduction; exoskeletons robot; rehabilitaion

Abstract

Considering the applications of human-computer interaction control, It is key problem to the forces provided by robot that make the movement between man and machine to be flexibility. So, the choices of control algorithms for robot, is not only to consider the real-time of control, but also to consider the stability of control. Sliding mode control is designed as a robust controller for wearable robots with nonlinearities, parameter uncertainties and bounded input disturbances. Considered the discontinuous nature of the control action, we introduced a scheme in some neighborhood of the switching surface to reduce the chattering. An effect of various control law within the boundary layer on chattering is studied and a function for chattering reduction and error convergence inside the boundary layer is proposed. As a result, a high-precision position tracking performance is obtained without any oscillatory behavior. The effectiveness of the proposed method is illustrated by simulations.

Copyright

© 2014, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Fucheng Cao
AU  - Hongwu Qin
AU  - Xilu Zhao
PY  - 2014/03
DA  - 2014/03
TI  - Analysis and Reduction of Chattering in Sliding Mode Control for Wearable Robots
BT  - Proceedings of the 2014 International Conference on Mechatronics, Control and Electronic Engineering
PB  - Atlantis Press
SP  - 580
EP  - 583
SN  - 1951-6851
UR  - https://doi.org/10.2991/mce-14.2014.129
DO  - 10.2991/mce-14.2014.129
ID  - Cao2014/03
ER  -