Adaptive nonsingular terminal sliding mode control for rehabilitation robots

被引：24
|
作者：
Liang, Xiaoling [1 ]
Wang, Haibin [2 ]
Zhang, Yuexin [3 ]
机构：
[1] Dalian Maritime Univ, Dept Marine Engn, Dalian 116026, Peoples R China
[2] Harbin Engn Univ, Coll Intelligent Syst Sci & Engn, Harbin 150001, Peoples R China
[3] Guangdong Polytech Normal Univ, Sch Automat, Guangzhou 510665, Peoples R China
来源：
COMPUTERS & ELECTRICAL ENGINEERING | 2022年 / 99卷
关键词：
Rehabilitation robot; Second-order fast nonsingular terminal sliding mode; Adaptive neural networks; Finite-time stability; DUAL-ARM ROBOT; MANIPULATORS; STABILITY;
D O I：
10.1016/j.compeleceng.2022.107718
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
A novel controller using second-order fast nonsingular terminal sliding mode control (SOFNTSMC) and adaptive neural networks (ANNs) is proposed for rehabilitation robots to achieve tracking control. First, the mathematical model is built as a two-link single-arm robot with uncertainties. The SOFNTSMC is employed to achieve a faster convergence, singularity-avoidance and reduce chattering with high precision. Then, ANNs are introduced to handle the model uncertainties and disturbances without any prior knowledge. Subsequently, using the finite-time stability analysis, all signals are bounded in the closed-loop system. Finally, comparative simulations are performed on a two-joints single-arm robot to verify the effectiveness of the proposed controller.
引用
收藏
页数：11
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