An Improved Super-Twisting Sliding Mode for Flexible Upper-Limb Exoskeleton
Aiming at the decrease of tracking accuracy caused by nonlinear friction and strong coupling of the flexible upper-limb exoskeleton, an improved super-twisting sliding mode controller (ISTSMC) is proposed. Compared with the conventional super twisted sliding mode controller (STSMC), this method can...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/12/1/32 |
| _version_ | 1797431108103569408 |
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| author | Saihua Zhang Xinghua Zhang Zhenxing Sun |
| author_facet | Saihua Zhang Xinghua Zhang Zhenxing Sun |
| author_sort | Saihua Zhang |
| collection | DOAJ |
| description | Aiming at the decrease of tracking accuracy caused by nonlinear friction and strong coupling of the flexible upper-limb exoskeleton, an improved super-twisting sliding mode controller (ISTSMC) is proposed. Compared with the conventional super twisted sliding mode controller (STSMC), this method can replace the switching function under the integral term with a nonsmooth term, resulting in a faster response, less vibration when performing trajectory tracking, and reduced steady-state error. The introduction of the nonsmooth term causes the controller to have a stronger anti-interference ability. At the same time, the parameters of the ISTSMC can be adjusted in order to achieve the expected control performance. The effectiveness and feasibility of the proposed control algorithm are verified through experiments. |
| first_indexed | 2024-03-09T09:38:12Z |
| format | Article |
| id | doaj.art-cf5a7d2188fb4233aa3715be413fb382 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T09:38:12Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-cf5a7d2188fb4233aa3715be413fb3822023-12-02T01:15:19ZengMDPI AGActuators2076-08252023-01-011213210.3390/act12010032An Improved Super-Twisting Sliding Mode for Flexible Upper-Limb ExoskeletonSaihua Zhang0Xinghua Zhang1Zhenxing Sun2College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211816, ChinaCollege of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211816, ChinaCollege of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211816, ChinaAiming at the decrease of tracking accuracy caused by nonlinear friction and strong coupling of the flexible upper-limb exoskeleton, an improved super-twisting sliding mode controller (ISTSMC) is proposed. Compared with the conventional super twisted sliding mode controller (STSMC), this method can replace the switching function under the integral term with a nonsmooth term, resulting in a faster response, less vibration when performing trajectory tracking, and reduced steady-state error. The introduction of the nonsmooth term causes the controller to have a stronger anti-interference ability. At the same time, the parameters of the ISTSMC can be adjusted in order to achieve the expected control performance. The effectiveness and feasibility of the proposed control algorithm are verified through experiments.https://www.mdpi.com/2076-0825/12/1/32flexible upper limb exoskeletonnonsmooth termimproved super-twisting sliding mode control |
| spellingShingle | Saihua Zhang Xinghua Zhang Zhenxing Sun An Improved Super-Twisting Sliding Mode for Flexible Upper-Limb Exoskeleton Actuators flexible upper limb exoskeleton nonsmooth term improved super-twisting sliding mode control |
| title | An Improved Super-Twisting Sliding Mode for Flexible Upper-Limb Exoskeleton |
| title_full | An Improved Super-Twisting Sliding Mode for Flexible Upper-Limb Exoskeleton |
| title_fullStr | An Improved Super-Twisting Sliding Mode for Flexible Upper-Limb Exoskeleton |
| title_full_unstemmed | An Improved Super-Twisting Sliding Mode for Flexible Upper-Limb Exoskeleton |
| title_short | An Improved Super-Twisting Sliding Mode for Flexible Upper-Limb Exoskeleton |
| title_sort | improved super twisting sliding mode for flexible upper limb exoskeleton |
| topic | flexible upper limb exoskeleton nonsmooth term improved super-twisting sliding mode control |
| url | https://www.mdpi.com/2076-0825/12/1/32 |
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