Real-time adaptive super twisting algorithm based on PSO algorithm: application for an exoskeleton robot

• Published in: Robotica Vol. 42; no. 6; pp. 1816 - 1841
• Main Authors: Tiaiba, Hichame, Daachi, Mohamed El Hossine, Madani, Tarek
• Format: Journal Article
• Language: English
• Published: Cambridge, UK Cambridge University Press 01.06.2024
• Subjects: Actuators; Adaptive algorithms; Adaptive systems; Algorithms; Control stability; Controllers; Dynamic models; Elbow; Exoskeletons; Neuromuscular electrical stimulation; Nonlinear control; Nonlinear systems; Parameters; Particle swarm optimization; Real time; Rehabilitation; Robot control; Robots; Robust control; Simulation; Sliding mode control; Trajectory control; Trajectory optimization; Twisting; Velocity; super twisting sliding mode control; online tuning; robotic rehabilitation; adaptive controller; particle swarm optimization; exoskeleton robot; real time

In this paper, an online adaptive super twisting sliding mode controller is proposed for a non-linear system. The adaptive controller has been designed in order to deal with the unknown dynamic uncertainties and give the best trajectory tracking. The adaptation is based on an optimal Particle Swarm...