Robust Adaptive Fractional‐Order Terminal Sliding Mode Control for Lower‐Limb Exoskeleton

2018 ◽  
Vol 21 (1) ◽  
pp. 473-482 ◽  
Author(s):  
Saim Ahmed ◽  
Haoping Wang ◽  
Yang Tian
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Lower Limb ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Robust Adaptive

scholarly journals Robust nonsingular fast terminal sliding-mode control for Sit-to-Stand task using a mobile lower limb exoskeleton

2020 ◽  
Vol 101 ◽  
pp. 104496 ◽  
Author(s):  
Joel Hernández Hernández ◽  
Sergio Salazar Cruz ◽  
Ricardo López-Gutiérrez ◽  
Arturo González-Mendoza ◽  
Rogelio Lozano
Keyword(s):  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Sit To Stand ◽  
Fast Terminal Sliding Mode

scholarly journals Output Feedback Fractional-Order Nonsingular Terminal Sliding Mode Control of Underwater Remotely Operated Vehicles

2014 ◽  
Vol 2014 ◽  
pp. 1-19 ◽  
Author(s):  
Yaoyao Wang ◽  
Jiawang Chen ◽  
Linyi Gu
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Output Feedback ◽  
Finite Time ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Remotely Operated Vehicles ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode

For the 4-DOF (degrees of freedom) trajectory tracking control problem of underwater remotely operated vehicles (ROVs) in the presence of model uncertainties and external disturbances, a novel output feedback fractional-order nonsingular terminal sliding mode control (FO-NTSMC) technique is introduced in light of the equivalent output injection sliding mode observer (SMO) and TSMC principle and fractional calculus technology. The equivalent output injection SMO is applied to reconstruct the full states in finite time. Meanwhile, the FO-NTSMC algorithm, based on a new proposed fractional-order switching manifold, is designed to stabilize the tracking error to equilibrium points in finite time. The corresponding stability analysis of the closed-loop system is presented using the fractional-order version of the Lyapunov stability theory. Comparative numerical simulation results are presented and analyzed to demonstrate the effectiveness of the proposed method. Finally, it is noteworthy that the proposed output feedback FO-NTSMC technique can be used to control a broad range of nonlinear second-order dynamical systems in finite time.

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