Observer Sliding Mode Control Design for lower Exoskeleton system: Rehabilitation Case

Alawad, Nasir Ahmed; Humaidi, Amjad J.; Al-Araji, Ahmed Sabah

doi:10.18196/jrc.v3i4.15239

Cited by 9 publications

(14 citation statements)

References 32 publications

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“…Design of SMADRC: For this system, the following extended state observer can be constructed as Equation (5).…”

Section: Engine Modelmentioning

confidence: 99%

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PSO‐SMADRC for altitude test facility intake pressure environmental simulation system

Chuanjian,

Chao,

Hehong

et al. 2024

Electronics Letters

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To address significant disturbances, including sudden air flow variation, model uncertainty, and unavoidable measurement noises during aeroengine transient tests in the intake environmental pressure simulation system (IEPSS), a sliding mode active disturbance rejection controller (SMADRC) is designed. The sliding mode control in SMADRC can deal with unmatched disturbances that are beyond the capabilities of the extended state observer (ESO) in ADRC. And the particle swarm optimization (PSO) algorithm is introduced to tune and optimize the controller parameters to further enhance the performance. To validate the effectiveness of the proposed method, simulations are conducted on the IEPSS software platform. The simulation results clearly demonstrate PSO‐SMADRC can reduce the mean squared error by 60.9%, the input oscillation by 68.7%, and the maximum deviation by 53.9%, compared with LADRC originally applied in the IEPSS.

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“…Design of SMADRC: For this system, the following extended state observer can be constructed as Equation (5).…”

Section: Engine Modelmentioning

confidence: 99%

“…Active disturbance rejection control (ADRC) is a model-free control method that can effectively reject disturbances and uncertainties based on the extended state observer (ESO). And many efforts have been made to improve ADRC by enhancing its nonlinear feedback control law [5][6][7]13], disturbance observing [8] and parameters' tuning [9].…”

Section: Introductionmentioning

confidence: 99%

PSO‐SMADRC for altitude test facility intake pressure environmental simulation system

Chuanjian,

Chao,

Hehong

et al. 2024

Electronics Letters

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“…The angle of total extension is represented by 0°; the angle of rest is represented by 90°; and the angle of maximum flexion of the knee is represented by 120° [28]. [26].…”

Section: Mathematical Modelmentioning

confidence: 99%

“…A. S. Aljuboury et al [2022] proposed an observer-based model reference adaptive control (MRAC) for motion control of the exoskeleton knee-assistive device for rehabilitation of weak mobility in the lower-limb part [27]. N. A. applied a modified version of active disturbance rejection control (ADRC) to control the movement of the shank around the knee joint using an exoskeleton system [28].…”

Section: Introductionmentioning

confidence: 99%

Whale Optimization Algorithm Enhances the Performance of Knee-Exoskeleton System Controlled by SMC

2023

IJCCCE

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Physiotherapeutic exoskeleton devices have recently been developed to help people rehabilitate impaired limb mobility and replace the use of physiotherapists. Such systems are characterized by high nonlinear and time-varying coefficients. In order to cope with such difficult control challenges, a need arose for reliable nonlinear controllers. While in this study the Sliding Mode Control (SMC) was used to track the trajectory of the knee exoskeleton-system (KES) while having parameter uncertainty. In addition, the whale optimization algorithm (WOA) was introduced and developed to adjust the thickness design parameters for further optimization of its performance. The simulation was performed on a calculator using the MATLAB-Simulink program to conduct a comparative study between the optimal and Classical SMC where the results of comparison with the test parameters used by the SMC showed, the results of the proposed optimal SMC revealed that the positioning inaccuracy of the knee increased by 31.8807% and it follows from this result that the controller could successfully perform tracking the track well. Also, the control system created at the optimal thickness has a better dynamic performance than the classical thickness. Index Terms— Optimal, Knee exoskeleton system, Whale optimization approach, Sliding mode control.

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“…Pneumatic artificial muscle actuators are particularly useful in prosthetics and robotics inspired by organisms; they can be used as skeletal muscles' first-order hardware models [13,14]. They are also widely utilized in limb rehabilitation robots [15][16][17][18][19] for people affected by strokes or other causes of weak limbs [20][21][22][23][24]. This is due to their functional resemblance to biological muscle in terms of contracting in response to activation and introducing compliance into the system [25][26][27].…”

Section: Introductionmentioning

confidence: 99%

A Novel Variable Stiffness Compound Extensor-Pneumatic Artificial Muscle (CE-PAM): Design and Mathematical Model

Al-Mayahi,

Al-Fahaam

2023

Journal of Robotics and Control

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Pneumatic artificial muscles (PAMs) have been exploited in robots utilized in various fields, including industry and medicine, due to their numerous advantages, such as their light weight; smooth, fast responses; and ability to generate significant force when fully extended. The actuator’s stiffness is important in these applications, and extensor PAMs (EPAMs) have a lower stiffness when compared to contractor PAMs (CPAMs). Because of this, this research presents the compound extensor PAM (CE-PAM), which is a novel actuator that has higher stiffness and can alter its stiffness at a fixed length or maintain a fixed stiffness at a variable length. This makes it useful in applications such as surgery robots and wearable robots. The CE-PAM is created by inserting the CPAM into the EPAM. Then, a mathematical model is developed to calculate the output force using several mathematical equations that relate the force, actuator size, and applied pressure to each other. The force is also calculated experimentally, and when comparing the mathematical with the experimental results, the error percentage appears greater than 20%. So the mathematical model is enhanced by calculating the wasted energy consumed by the actuator before the start of the bladder’s expansion, at which the force is zero because the pressure is consumed only for bladder expansion to touch the sleeve. The effect of the bladder’s thickness is calculated to further enhance the model by calculating the volume of air entering the muscle rather than the total muscle volume. To illustrate the effect of thickness on the actuator, experiments are conducted on CPAMs made of the same bladder material but with different thicknesses. A balloon is used in the manufacture of the bladder. Because it is a lightweight, thin material with a low thickness, it requires very low pressure to expand.

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Observer Sliding Mode Control Design for lower Exoskeleton system: Rehabilitation Case

Cited by 9 publications

References 32 publications

PSO‐SMADRC for altitude test facility intake pressure environmental simulation system

PSO‐SMADRC for altitude test facility intake pressure environmental simulation system

Whale Optimization Algorithm Enhances the Performance of Knee-Exoskeleton System Controlled by SMC

A Novel Variable Stiffness Compound Extensor-Pneumatic Artificial Muscle (CE-PAM): Design and Mathematical Model

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