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Fuzzy-Based Fixed-Time Nonsingular Tracker of Exoskeleton Robots for Disabilities Using Sliding Mode State Observer

Author

Listed:
  • Ayman A. Aly

    (Department of Mechanical Engineering, College of Engineering, Taif University, Taif 21944, Saudi Arabia
    King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia
    Ayman A. Aly and Mai The Vu are the first authors, these authors contributed equally to this work.)

  • Mai The Vu

    (School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea
    Ayman A. Aly and Mai The Vu are the first authors, these authors contributed equally to this work.)

  • Fayez F. M. El-Sousy

    (Department of Electrical Engineering, Prince Sattam Bin Abdulaziz University, Al Kharj 11991, Saudi Arabia)

  • Ahmed Alotaibi

    (Department of Mechanical Engineering, College of Engineering, Taif University, Taif 21944, Saudi Arabia
    King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia)

  • Ghassan Mousa

    (King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia
    Department of Mechanical Engineering, Faculty of Engineering, King Abdulaziz University, Jeddah 21589, Saudi Arabia)

  • Dac-Nhuong Le

    (King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia
    Institute of Research and Development, Duy Tan University, Danang 550000, Vietnam)

  • Saleh Mobayen

    (Future Technology Research Center, National Yunlin University of Science and Technology, Douliou, Yunlin 64002, Taiwan)

Abstract

In this article, the position tracking control of the wheelchair upper-limb exoskeleton robotic system is investigated with the aim of rehabilitation of disabled people. Hence, the fuzzy nonsingular terminal sliding mode control method by using the state observer with a fixed-time convergence rate is designed in three main parts. In the first part, the fixed-time state observer is proposed for estimation of the states of the system. Secondly, the fixed-time convergence of position tracking error of the upper-limb exoskeleton robot system is examined by using the nonsingular terminal sliding mode control approach. In the third part, with the target of the improvement of the controller performance for removal of the chattering phenomenon which diminishes the controller performance, the fuzzy control method is used. Finally, the efficiency and proficiency of the proposed control method on the upper limb exoskeleton robotic system are demonstrated via the simulation results which are provided by MATLAB/Simulink software. In this part, simulation results are obtained based on different initial conditions in two examples using various desired values. Thus, it can be demonstrated that the proposed method applied to the upper-limb exoskeleton robot system is robust under various initial conditions and desired values.

Suggested Citation

  • Ayman A. Aly & Mai The Vu & Fayez F. M. El-Sousy & Ahmed Alotaibi & Ghassan Mousa & Dac-Nhuong Le & Saleh Mobayen, 2022. "Fuzzy-Based Fixed-Time Nonsingular Tracker of Exoskeleton Robots for Disabilities Using Sliding Mode State Observer," Mathematics, MDPI, vol. 10(17), pages 1-19, September.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:17:p:3147-:d:904488
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    References listed on IDEAS

    as
    1. Mai The Vu & Khalid A. Alattas & Yassine Bouteraa & Reza Rahmani & Afef Fekih & Saleh Mobayen & Wudhichai Assawinchaichote, 2022. "Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot," Mathematics, MDPI, vol. 10(11), pages 1-36, June.
    2. Mobayen, Saleh & Majd, Vahid Johari & Sojoodi, Mahdi, 2012. "An LMI-based composite nonlinear feedback terminal sliding-mode controller design for disturbed MIMO systems," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 85(C), pages 1-10.
    3. Razzaghian, Amir, 2022. "A fuzzy neural network-based fractional-order Lyapunov-based robust control strategy for exoskeleton robots: Application in upper-limb rehabilitation," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 193(C), pages 567-583.
    4. Khalid A. Alattas & Mai The Vu & Omid Mofid & Fayez F. M. El-Sousy & Abdullah K. Alanazi & Jan Awrejcewicz & Saleh Mobayen, 2022. "Adaptive Nonsingular Terminal Sliding Mode Control for Performance Improvement of Perturbed Nonlinear Systems," Mathematics, MDPI, vol. 10(7), pages 1-18, March.
    5. Khalid A. Alattas & Mai The Vu & Omid Mofid & Fayez F. M. El-Sousy & Afef Fekih & Saleh Mobayen, 2022. "Barrier Function-Based Nonsingular Finite-Time Tracker for Quadrotor UAVs Subject to Uncertainties and Input Constraints," Mathematics, MDPI, vol. 10(10), pages 1-16, May.
    6. Mojtaba Ahmadieh Khanesar & David Branson, 2022. "Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver," Energies, MDPI, vol. 15(5), pages 1-17, March.
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