Exponential sliding mode controller for a nonlinear musculoskeletal human arm model

Shahbazzadeh, Zahra Jafari; Ardakani, Fatemeh Fotouhi; Vatankhah, Ramin

doi:10.1109/icmsao.2017.7934882

Cited by 3 publications

(4 citation statements)

References 11 publications

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“…The tracking results for the shoulder and elbow joints are presented in Figure 9 and Figure 10, respectively. The suitable performance of this controller was investigated in our previous work [24].…”

Section: Tracking Resultsmentioning

confidence: 99%

“…The Hamiltonian function for this optimal controller is proposed because of the variational optimal control approach [35]. By using (19) and (24), this function can be expanded as below:…”

Section: Optimal Torques Of Shoulder and Elbow Jointsmentioning

confidence: 99%

“…In addition, for a planar arm actuated by pneumatic muscle (PM) actuators, multiple-input slidingmode techniques were applied [22]. In [24], the exponential slidingmode controller was investigated for a musculoskeletal human arm model in the presence of gravitational effects. In [24], the exponential slidingmode controller was investigated for a musculoskeletal human arm model in the presence of gravitational effects.…”

Section: Introductionmentioning

confidence: 99%

“…In [23], the modified sliding mode with exponential reaching law (mSMERL) was presented to control the nonlinear dynamics of a 7-DOF exoskeleton arm. In [24], the exponential slidingmode controller was investigated for a musculoskeletal human arm model in the presence of gravitational effects. Chattering is a major issue involving the use of a slidingmode control (SMC) strategy for dynamical systems because it damages the mechanical components.…”

Section: Introductionmentioning

confidence: 99%

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Fuzzy sliding-mode control of a human arm in the sagittal plane with optimal trajectory

2018

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Patients with spinal cord injuries cannot move their limbs using their intact muscles. A suitable controller can be used to move their arms by employing the functional electrical stimulation method. In this article, a fuzzy exponential sliding‐mode controller is designed to move a musculoskeletal human arm model to track an optimal trajectory in the sagittal plane. This optimal arm trajectory is obtained by developing a policy for the central nervous system. In order to specify the optimal trajectory between two points, two dynamic and static optimal criteria are applied simultaneously. The first dynamic objective function is defined to minimize the joint torques, and the second static optimization is offered to minimize the muscle forces at each moment. In addition, fuzzy logic is used to tune the sliding‐surface parameter to enable an appropriate tracking performance. Simulation results are evaluated and compared with experimental data for upward and downward movements of the human arm.

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Section: Tracking Resultsmentioning

confidence: 99%

“…The Hamiltonian function for this optimal controller is proposed because of the variational optimal control approach [35]. By using (19) and (24), this function can be expanded as below:…”

Section: Optimal Torques Of Shoulder and Elbow Jointsmentioning

confidence: 99%