Adaptive integral terminal sliding mode control for upper-limb rehabilitation exoskeleton

• Published in: Control engineering practice Vol. 75; pp. 108 - 117
• Main Authors: Riani, A., Madani, T., Benallegue, A., Djouani, K.
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.06.2018; Elsevier
• Subjects: Adaptive control; Computer Science; Exoskeleton; Rehabilitation robotics; Robotics; Sliding mode control; Wearable robots; Rehabilitation robotics; Exoskeleton; Adaptive control; Sliding mode control; Wearable robots

A robust adaptive integral terminal sliding mode control strategy is proposed in this paper to deal with unknown but bounded dynamic uncertainties of a nonlinear system. This method is applied for the control of upper limb exoskeleton in order to achieve passive rehabilitation movements. Indeed, exo...