Robustness analysis of an upper-limb exoskeleton using Monte Carlo simulation

被引：0
|
作者：
Bembli, Sana [1 ]
Haddad, Nahla Khraief [1 ]
Belghith, Safya [1 ]
机构：
[1] Univ Tunis El Manar, Natl Engn Sch Tunis, RISC Lab, Tunis, Tunisia
来源：
2018 INTERNATIONAL CONFERENCE ON ADVANCED SYSTEMS AND ELECTRICAL TECHNOLOGIES (IC_ASET) | 2017年
关键词：
Upper limb exoskeleton; rehabilitation; dynamic model; robust control; adaptive sliding mode controller; uncertainties and disturbances;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This document presents a robust adaptive sliding mode controller of an upper limb exoskeleton used for rehabilitation. The considered system is a robot with two degrees of freedom. A comparative study of the proposed adaptive sliding mode technique with the adaptive and sliding mode controllers is done. A Monte Carlo simulation is realized to analyze respectively the robustness and the stability of the controllers against parametric uncertainties, matched and unmatched disturbances. Simulation results are provided to prove the performances and the effectiveness of the proposed adaptive sliding mode algorithm.
引用
收藏
页码：78 / 84
页数：7
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