Please use this identifier to cite or link to this item: http://hdl.handle.net/2080/4490
Title: A Two Loop Sliding Mode Controller for Upper Limb Exosuit in Presence of Actuator Non-linearities
Authors: Ghosh, Akriti
Nath, Krishanu
Bera, Manas Kumar
Laskar, Shahedul Haque
Keywords: Soft exosuit
Sliding Mode Control
Actuator nonlinearities
Bowden Cable
Issue Date: Mar-2024
Citation: Eighth IFAC International Conference on Advances in Control and Optimization of Dynamical Systems (ACODS 2024), Shiv Nadar University, Delhi, India, 12-15 March 2024
Abstract: Soft exosuits are wearable devices that can provide assistance to individuals with impaired arm movement due to injuries or disabilities. The control of cable-driven soft exosuits has several challenges due to the complex nature of the system interaction and inherent nonlinearities. In this paper, we consider the problem of robust controller design for a soft exosuit considering actuator nonlinearities. This presented work discusses the design of a twoloop sliding mode controller for upper limb exosuits to compensate the efect of nonlinearities in the actuator, i.e., the DC motor and the cable-driven actuation unit. Our aim is to achieve the desired trajectory tracking in the presence of friction in the DC motor and backlash hysteresis in the Bowden cable, for which a two-loop control scheme is introduced. The outer loop generates a desired trajectory by compensating for the backlash in the Bowden cable. The inner loop controller is a robust position-tracking control that tackles the friction in the DC motor. Using Lyapunov stability analysis, we guarantee the convergence of tracking error to zero in the presence of disturbance. Simulation results show that the proposed control law can guarantee accurate tracking performance in the presence of unknown non-linearities.
Description: Copyright belongs to proceeding publisher
URI: http://hdl.handle.net/2080/4490
Appears in Collections:Conference Papers

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