Model-free high-order terminal sliding mode controller for Lipschitz nonlinear systems. Implemented on Exoped^ exoskeleton robot

DOI10.1080/00207721.2020.1853848MaRDI QIDQ5028056zbMATH OpenOpenAlexFDO

Authors Nahid Ebrahimi, Sadjaad Ozgoli, Amin Ramezani

Publication date 8 February 2022

Published in International Journal of Systems Science. Principles and Applications of Systems and Integration (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207721.2020.1853848

zbMATH Keywords

sliding mode controlexoskeleton robotterminal sliding mode controldata driven controlmodel free adaptive control

Mathematics Subject Classification ID

Variable structure systems (93B12) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Adaptive iterative learning control for nonlinear uncertain systems with both state and input constraints
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• Data-driven model-free adaptive sliding mode control for the multi degree-of-freedom robotic exoskeleton
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• Global fast terminal sliding mode controller for hydraulic turbine regulating system with actuator dead zone
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• Second order sliding mode output feedback control with switching gains -- application to the control of a pneumatic actuator
• Second-order sliding mode controller design with output constraint
• Two updating schemes of iterative learning control for networked control systems with random data dropouts
• Unfalsified control based on theH∞controller parameterisation

Cited in

(4)

• Model-free super-twisting terminal sliding mode controller using sliding mode disturbance observer for n-DOF upper-limb rehabilitation exoskeleton with backlash hysteresis
• Adaptive prescribed-time sliding mode control of nonlinear systems with unknown dynamics
• Model-free adaptive iterative sliding mode control for a robotic exoskeleton trajectory tracking system
• Data-driven model-free adaptive sliding mode control for the multi degree-of-freedom robotic exoskeleton

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