This paper deals with the modeling, the control and the robustness analysis of an integrated exoskeleton-upper limb system. The considered system is a robot with two degrees of freedom controlled by a Model Free Terminal Sliding Mode with Gravity Compensation (MFTSMGC) algorithm. The objective is to develop a new dynamic model of the exoskeleton interacted with the human upper limb then to control the flexion/extension movement of the shoulder and the elbow and to study its robustness in presence of uncertainties and disturbances. Thus, in a first time, the dynamic model of the treated system was presented. In a second time, the development of a new control law was done. Then, an Input-to-State Stability (ISS) study is realized to demonstrate the stability of the considered system. Finally, a robustness analysis using Monte Carlo method is developed. Simulation results are provided to prove the performances and the efficiency of the Model Free Terminal Sliding mode with Gravity Compensation algorithm and the stability of the system in presence of disturbances and uncertainties.
An Integrated Exoskeleton-Upper Limb System: Modeling, Control, Stability Study and Robustness Analysis
Studies in Systems, Decision and Control
12.08.2023
24 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Integrated exoskeleton , Upper limb system , Modeling and control , Robustness analysis , Input-to-state stability (ISS) , Model Free Terminal Sliding mode with Gravity Compensation , Uncertainties and disturbances , Monte Carlo method Engineering , Control, Robotics, Mechatronics , Complexity , Computational Intelligence , Complex Systems , Mathematical Modeling and Industrial Mathematics
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