Design of M-G modal space sliding mode control for lower limb exoskeleton robot driven by electrical actuators |
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| Affiliation: | 1. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control, Yanshan University, Qinhuangdao 066004, China;2. Ministry of Education of China, Key Laboratory of Advanced Forging and Stamping Technology and Science (Yanshan University), Qinhuangdao 066004, China;3. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China;4. Department of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China;5. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310013, China;1. Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-sen University, Kaohsiung 80424, Taiwan;2. Institute of Medical Science and Technology, National Sun Yat-sen University, Kaohsiung 80424, Taiwan;3. Department of Occupational Therapy, Kaohsiung Medical University, Kaohsiung 80708, Taiwan;4. Office of Research and Development, Naroller Electronics Co., Ltd., Taoyuan City 33393, Taiwan;5. Institute of Biomedical Sciences, National Sun Yat-sen University, Kaohsiung 80424, Taiwan |
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| Abstract: | Lower limb exoskeleton robot (LLER) can help patients with lower limb paralysis to carry out effective rehabilitation training. However, LLER is a kind of nonlinear system with the strong dynamic coupling between joints and the parameter perturbation following different poses of the robot. They will damage the control performance in the process of trajectory tracking. To solve these problems, a novel control strategy, Mass-Gravity modal space sliding mode control (M-GMSSMC), is proposed. The objective for this paper is to develop a novel decoupling control framework for an electrical actuators driven LLER to track a predefined gait trajectory. The controller design aims to improve trajectory tracking accuracy, reduce dynamic coupling between hip joint and knee joint and weaken the chattering phenomenon of the sliding mode controller. The decoupling condition and the robust stability condition are analyzed in this work. Experimental results validate the correctness of the presented conclusions and show the effectiveness of the proposed M-GMSSMC. |
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