Sliding Mode Control for 2 Degrees of Freedom Upper Limb Rehabilitation Robotic System under Uncertainties
Syed Faiz Ahmed1, Yarooq Raza2, Abadal Salam T. Hussian3, M. Kamran Joyo4, Asadullah Shah5
1Syed Faiz Ahmed*, Kulliyyah of Information & Communication Technology International Islamic University Malaysia, Kuala Lumpur, Malaysia.
2Yarooq Raza, Department of Electrical/ Electronics, University Kuala Lumpur, Kuala Lumpur, Malaysia.
3Abadal salam T. Hussian, Medical Instrumentations Techniques Engineering, AlKitab University, Iraq.
4M. Kamran Joyo, Department of Electrical/ Electronics, University Kuala Lumpur, Kuala Lumpur, Malaysia.
5Asadullah Shah, Kulliyyah of Information & Communication Technology International Islamic University Malaysia, Kuala Lumpur, Malaysia.
Manuscript received on November 24, 2019. | Revised Manuscript received on December 15, 2019. | Manuscript published on December 30, 2019. | PP: 3268-3274 | Volume-9 Issue-2, December, 2019. | Retrieval Number: B3250129219/2019©BEIESP | DOI: 10.35940/ijeat.B3250.129219
Open Access | Ethics and Policies | Cite | Mendeley
© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Rehabilitation of patients suffering from post-stroke injuries via robots is now adapted word widely. The aim of this therapy is to restore and improve the dysfunction and the performance of the affected limbs doing repetitive tasks with the help of rehabilitation robots, as robots are best way to perform repetitive task without any monotony failure. Control of these rehabilitation robots is an important part to consider because of nonlinearity and uncertainty of the system. This paper presents nonlinear sliding mode controller (SMC) for controlling a 2 degrees of freedom (DOF) upper limb robotic manipulator. Sliding mode control is able to handle system uncertainties and parametric changes. One drawback of using SMC is high frequency oscillations called as chattering. This chattering can be reduced by using boundary layer technique. Experiments have been carried out under perturbed conditions and results have shown that SMC performs well and remain stable and thus proves to robust controller for upper limb robotic manipulator.
Keywords: Rehabilitation robots, Non-linearities, Sliding Mode Control, Chattering, Boundary Layer Technique, Perturbed Condition.