Proceedings of the 2014 International Conference on Mechatronics, Control and Electronic Engineering

Analysis and Reduction of Chattering in Sliding Mode Control for Wearable Robots

Authors
Fucheng Cao, Hongwu Qin, Xilu Zhao
Corresponding Author
Fucheng Cao
Available Online March 2014.
DOI
https://doi.org/10.2991/mce-14.2014.129How to use a DOI?
Keywords
wearable robots; sliding mode control; chattering reduction; exoskeletons robot; rehabilitaion
Abstract
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.
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Proceedings
2014 International Conference on Mechatronics, Control and Electronic Engineering (MCE-14)
Part of series
Advances in Intelligent Systems Research
Publication Date
March 2014
ISBN
978-94-62520-31-8
ISSN
1951-6851
DOI
https://doi.org/10.2991/mce-14.2014.129How to use a DOI?
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  -