Analysis and Reduction of Chattering in Sliding Mode Control for Wearable Robots
Fucheng Cao, Hongwu Qin, Xilu Zhao
Available Online March 2014.
- https://doi.org/10.2991/mce-14.2014.129How to use a DOI?
- wearable robots; sliding mode control; chattering reduction; exoskeletons robot; rehabilitaion
- Considering the applications of human-computer interaction control, It is key problem to the forces provided by robot that make the movement between man and machine to be flexibility. So, the choices of control algorithms for robot, is not only to consider the real-time of control, but also to consider the stability of control. Sliding mode control is designed as a robust controller for wearable robots with nonlinearities, parameter uncertainties and bounded input disturbances. Considered the discontinuous nature of the control action, we introduced a scheme in some neighborhood of the switching surface to reduce the chattering. An effect of various control law within the boundary layer on chattering is studied and a function for chattering reduction and error convergence inside the boundary layer is proposed. As a result, a high-precision position tracking performance is obtained without any oscillatory behavior. The effectiveness of the proposed method is illustrated by simulations.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
TY - CONF AU - Fucheng Cao AU - Hongwu Qin AU - Xilu Zhao PY - 2014/03 DA - 2014/03 TI - Analysis and Reduction of Chattering in Sliding Mode Control for Wearable Robots BT - 2014 International Conference on Mechatronics, Control and Electronic Engineering (MCE-14) PB - Atlantis Press SP - 580 EP - 583 SN - 1951-6851 UR - https://doi.org/10.2991/mce-14.2014.129 DO - https://doi.org/10.2991/mce-14.2014.129 ID - Cao2014/03 ER -