Enhancement of Sliding Mode Control Performance for Perturbed and Unperturbed Nonlinear Systems: Theory and Experimentation on Rehabilitation Robot

被引：11

作者：

Brahmi, Brahim ^{[1
]}

Bojairami, Ibrahim El ^{[2
]}

Saad, Maarouf ^{[3
]}

Driscoll, Mark ^{[2
]}

Zemam, Samir ^{[3
]}

Laraki, Mohamed Hamza ^{[3
]}

机构：

[1] New Mexico Technol, Mech Engn Dept, Socorro, NM 87801 USA

[2] McGill Univ, Mech Engn Dept, Montreal, PQ, Canada

[3] Ecole Technol Super, Elect Engn Dept, Montreal, PQ, Canada

来源：

JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY | 2021年 / 16卷 / 01期

关键词：

Reaching law; Sliding mode control; Chattering; Perturbed and unperturbed system; Exoskeleton robot;

D O I：

10.1007/s42835-020-00615-2

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 paper presents the design and validation of a new adaptive variable gain reaching law, integrated with sliding mode control (SMC), to control perturbed and unperturbed nonlinear systems. The novelty behind this law stems from its capability to overcome the main limitations involved with SMC. In contrast to existing reaching laws, system's performance can be substantially enhanced via this law, with significant reduction in the chattering phenomenon, along ensuring rapid convergence time of system's trajectories towards equilibrium. The designed law not only integrates the features of both the exponential reaching law (ERL) and the power rate reaching law (PRL), but also overcomes their limitations. Simulation and comparison studies against ERL and PRL were carried out to validate the effectiveness and advantages of the proposed reaching law scheme (Proposed-RL). Furthermore, controlled experimental investigations were conducted using an exoskeleton robot (ETS-MARSE) to validate the scheme in real-time.

引用

页码：599 / 616

页数：18

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