A New Novel Exponentical Optimal Sliding Mode Control and Its Application for Lower-Limb Exoskeleton

In this study, a new novel exponential optimal sliding mode control is presented. In the proposed control, the Riccati-like equation is used to combine with the cost function of the optimal control for design. The steady-state form following the Riccati-like equation is also established and then the...

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Bibliographic Details
Published in2019 International Conference on System Science and Engineering (ICSSE) pp. 564 - 567
Main Authors Quoc Van, Nguyen, Xuan Phu, Do
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2019
Subjects
Exoskeletons
exponential function
hybrid control
lower-limb exoskeleton
Mathematical model
Optimal control
Riccati-like equation
Simulation
Sliding mode control
Vibration control
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Summary:In this study, a new novel exponential optimal sliding mode control is presented. In the proposed control, the Riccati-like equation is used to combine with the cost function of the optimal control for design. The steady-state form following the Riccati-like equation is also established and then the symmetric gain of the sliding surface is determined. A new robustness control supporting the equivalent control of the system is proposed following a novel exponential function of sliding surface. After formulating, the proposed control is simulated by applying to vibration control of a lower-limb exoskeleton. Simulation results show that the proposed controller is good performance and can be used for control real systems
ISSN:2325-0925
DOI:10.1109/ICSSE.2019.8823419