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A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation

The research presents a novel controller designed for robotic systems subject to nonlinear uncertain dynamics and external disturbances. The control scheme is based on the modified super-twisting method, input/output feedback linearization, and time delay approach. In addition, to minimize the chatt...

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Autores principales: Brahmi, Brahim, El Bojairami, Ibrahim, Ahmed, Tanvir, Swapnil, Asif Al Zubayer, AssadUzZaman, Mohammad, Wang, Inga, McGonigle, Erin, Rahman, Mohammad Habibur
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8224393/
https://www.ncbi.nlm.nih.gov/pubmed/34064248
http://dx.doi.org/10.3390/mi12060597
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author Brahmi, Brahim
El Bojairami, Ibrahim
Ahmed, Tanvir
Swapnil, Asif Al Zubayer
AssadUzZaman, Mohammad
Wang, Inga
McGonigle, Erin
Rahman, Mohammad Habibur
author_facet Brahmi, Brahim
El Bojairami, Ibrahim
Ahmed, Tanvir
Swapnil, Asif Al Zubayer
AssadUzZaman, Mohammad
Wang, Inga
McGonigle, Erin
Rahman, Mohammad Habibur
author_sort Brahmi, Brahim
collection PubMed
description The research presents a novel controller designed for robotic systems subject to nonlinear uncertain dynamics and external disturbances. The control scheme is based on the modified super-twisting method, input/output feedback linearization, and time delay approach. In addition, to minimize the chattering phenomenon and ensure fast convergence to the selected sliding surface, a new reaching law has been integrated with the control law. The control scheme aims to provide high performance and enhanced accuracy via limiting the effects brought by the presence of uncertain dynamics. Stability analysis of the closed-loop system was conducted using a powerful Lyapunov function, showing finite time convergence of the system’s errors. Lastly, experiments shaping rehabilitation tasks, as performed by healthy subjects, demonstrated the controller’s efficiency given its uncertain nonlinear dynamics and the external disturbances involved.
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spelling pubmed-82243932021-06-25 A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation Brahmi, Brahim El Bojairami, Ibrahim Ahmed, Tanvir Swapnil, Asif Al Zubayer AssadUzZaman, Mohammad Wang, Inga McGonigle, Erin Rahman, Mohammad Habibur Micromachines (Basel) Article The research presents a novel controller designed for robotic systems subject to nonlinear uncertain dynamics and external disturbances. The control scheme is based on the modified super-twisting method, input/output feedback linearization, and time delay approach. In addition, to minimize the chattering phenomenon and ensure fast convergence to the selected sliding surface, a new reaching law has been integrated with the control law. The control scheme aims to provide high performance and enhanced accuracy via limiting the effects brought by the presence of uncertain dynamics. Stability analysis of the closed-loop system was conducted using a powerful Lyapunov function, showing finite time convergence of the system’s errors. Lastly, experiments shaping rehabilitation tasks, as performed by healthy subjects, demonstrated the controller’s efficiency given its uncertain nonlinear dynamics and the external disturbances involved. MDPI 2021-05-21 /pmc/articles/PMC8224393/ /pubmed/34064248 http://dx.doi.org/10.3390/mi12060597 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Brahmi, Brahim
El Bojairami, Ibrahim
Ahmed, Tanvir
Swapnil, Asif Al Zubayer
AssadUzZaman, Mohammad
Wang, Inga
McGonigle, Erin
Rahman, Mohammad Habibur
A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation
title A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation
title_full A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation
title_fullStr A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation
title_full_unstemmed A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation
title_short A Novel Modified Super-Twisting Control Augmented Feedback Linearization for Wearable Robotic Systems Using Time Delay Estimation
title_sort novel modified super-twisting control augmented feedback linearization for wearable robotic systems using time delay estimation
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8224393/
https://www.ncbi.nlm.nih.gov/pubmed/34064248
http://dx.doi.org/10.3390/mi12060597
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