Terminal super-twisting sliding mode based on high order sliding mode observer for two DOFs lower limb system

Measurement and Control - Tập 56 Số 7-8 - Trang 1455-1470 - 2023
Tri Duc Tran1, Van Tu Duong2,3,1, Huy Hung Nguyen4, Tan Tien Nguyen2,3,1
1Vietnam National University Ho Chi Minh City, Ho Chi Minh City, Vietnam
2Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), Ho Chi Minh City, Vietnam
3National Key Laboratory of Digital Control and System Engineering (DCSELab), Ho Chi Minh City University of Technology (HCMUT), Ho Chi Minh City, Vietnam
4Faculty of Electronics and Telecommunication, Saigon University, Ho Chi Minh City, Vietnam

Tóm tắt

In this paper, a novel backstepping terminal super-twisting sliding mode (TSTSM) with high order sliding mode observer (HOSMO) is proposed to control the two degrees of freedom (DOFs) Serial Elastic Actuator (SEA), inspired by a lower limb of humanoid robots. First, the dynamic model, extended from our previous study, is presented for developing the control algorithm. Secondly, the backstepping technique is utilized to separate the overall system into two subsystems. One of the challenges of SEA is to deal with the evident oscillations caused by the elastic element, which might lead to the degrading performance of load position control. In order to reduce this adverse effect, a TSTSM is proposed to control the position tracking of two subsystems. The advantages of TSTSM are the finite-time convergence despite the bounded perturbation and the dramatic reduction of the chattering phenomenon. To construct and implement the TSTSM controller, it requires the knowledge of all states, which is not available in the current lower limb system setup. Therefore, a HOSMO is utilized to estimate the unknown states. Finally, experiment results are carried out to assess the effectiveness of the proposed controller and compare it with those of different control schemes.

Từ khóa


Tài liệu tham khảo

Koniuk W. Self-adjusting prosthetic ankle apparatus [Internet]. US Patent App. 09/816,902, http://www.google.com/patents?hl=en&lr=&vid=USPATAPP9816902&id=Zr6DAAAAEBAJ&oi=fnd&dq=Self-adjusting+prosthetic+ankle&printsec=abstract (2001).

Sup F, 2009 IEEE international conference on rehabilitation robotics, ICORR 2009, 2009

10.1115/1.3005335

10.1109/TRO.2008.2008747

10.1109/ICRA.2012.6224967

10.1109/LRA.2018.2809964

10.1109/CIS-RAM47153.2019.9095853

Vorndamme J, IEEE International conference on intelligent robots and systems, 3360

Hirayama K, 2019, IEEE-RAS international conference on humanoid robots, 552

10.1109/IROS.1995.525827

10.1177/0020294021989749

10.1109/LRA.2016.2633580

10.1109/LRA.2017.2726141

10.1109/LRA.2019.2902071

10.1109/TCST.2021.3059284

10.1109/TMECH.2016.2621062

10.1177/0278364912452762

10.1109/HUMANOIDS.2015.7363452

10.1163/156855307781503781

Ajoudani A, IEEE-RAS International conference on humanoid robots, 664

10.1002/rob.21702

10.1109/LRA.2019.2896758

Sharbafi MA, 2021, IEEE/ASME Trans Mechatron, 26, 335

10.1109/IROS.2011.6094429

Sensinger JW, Proceedings of the 2nd IEEE/ASME international conference on mechatronic and embedded systems and applications, MESA, 2006, 2006

10.1016/j.robot.2007.09.010

Pratt GA, 2004, Proc Am Control Conf, 4, 3245

10.1109/BIOROB.2010.5626010

10.1109/IROS.2011.6094913

10.1109/IROS.2007.4399172

Wyeth G, 2006, Proceedings of the 2006 Australasian conference on robotics and automation, ACRA

10.1109/TMECH.2008.2004561

Kong K, 2010, IEEE/ASME transactions on mechatronics, 1

Bae J, Proceedings of the 2010 American control conference, ACC 2010, 2010

10.1109/JAS.2019.1911498

10.1109/LCSYS.2018.2851139

Venkataraman ST, 1992, Proc Am Control Conf, 891

10.1016/0375-9601(88)90728-1

10.1109/9.362847

10.1109/ACCESS.2020.3036010

10.1016/S0005-1098(02)00147-4

10.1080/00207179608921680

10.1109/CCDC52312.2021.9601778

10.1007/978-981-19-3394-3_14

10.1080/00207728608926853

Slotine J, 2011, Applied Nonlinear control, 8

10.1007/978-3-642-84379-2

10.1016/j.automatica.2012.02.024

10.1016/j.automatica.2014.01.004

10.1111/j.1934-6093.2003.tb00167.x

Kuang Z, IEEE international symposium on industrial electronics, 201

10.1016/j.automatica.2016.01.047

10.1080/00207179308923053

10.1016/j.automatica.2006.10.008

10.1109/TAC.2011.2179878

10.1109/TAC.2012.2186179

10.1177/0020294020974059

10.1177/0020294019866863

10.1177/0020294020909126

10.1080/002071799220029

10.1109/9.964682

Diop S, 1994, Proc Am Control Conf, 2, 1329

10.1016/j.matcom.2010.10.003

10.1080/00207179208934355

10.1137/S0363012992241430

10.1080/0020717031000099029

10.1080/00207179408923128

10.1016/S0005-1098(99)00177-6

10.1080/00207720701847638

10.1016/j.automatica.2019.108633

10.1109/TAC.2005.858636

10.1007/s40435-021-00757-9

10.1109/ACCESS.2020.2989613

10.1007/s12206-013-0636-3

10.1109/TIE.2016.2523913

10.1016/j.automatica.2013.04.034

10.1109/CDC.2012.6426877

10.1109/OJIES.2020.3040412

10.1093/imamci/dnr036

10.1109/CDC.2008.4739356

Moreno JA, 2009 6th International conference on electrical engineering, computing science and automatic control, CCE 2009, 2009

Thông tin
Thông tin xuất bản

Measurement and Control

Tập 56 Số 7-8

1455-1470

Thông tin tác giả