Liu, Q, Liu, D, Meng, W et al. (2 more authors) (2014) Fuzzy sliding mode control of a multi-DOF parallel robot in rehabilitation environment. International Journal of Humanoid Robotics, 11 (01). p. 1450004. ISSN 0219-8436
Abstract
Multi-degrees of freedom (DOF) parallel robot, due to its compact structure and high operation accuracy, is a promising candidate for medical rehabilitation devices. However, its controllability relating to the nonlinear characteristics challenges its interaction with human subjects during the rehabilitation process. In this paper, we investigated the control of a parallel robot system using fuzzy sliding mode control (FSMC) for constructing a simple controller in practical rehabilitation, where a fuzzy logic system was used as the additional compensator to the sliding mode controller (SMC) for performance enhancement and chattering elimination. The system stability is guaranteed by the Lyapunov stability theorem. Experiments were conducted on a lower limb rehabilitation robot, which was built based on kinematics and dynamics analysis of the 6-DOF Stewart platform. The experimental results showed that the position tracking precision of the proposed FSMC is sufficient in practical applications, while the velocity chattering had been effectively reduced in comparison with the conventional FSMC with parameters tuned by fuzzy systems.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | Electronic version of an article published as International Journal of Humanoid Robotics , 11, 01, 2014, 1450004, 10.1142/S0219843614500042 © World Scientific Publishing Company, https://www.worldscientific.com/worldscinet/ijhr |
Keywords: | Multi-DOF parallel robot; fuzzy sliding mode control; rehabilitation |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 18 May 2018 10:31 |
Last Modified: | 18 May 2018 10:31 |
Status: | Published |
Publisher: | World Scientific |
Identification Number: | 10.1142/S0219843614500042 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:125850 |