Fuzzy-Based Fixed-Time Nonsingular Tracker of Exoskeleton Robots for Disabilities Using Sliding Mode State Observer

Ayman A. Aly, Mai The Vu, Fayez F. M. El-Sousy, Ahmed Alotaibi, Ghassan Mousa, Dac-Nhuong Le and Saleh Mobayen ()
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Ayman A. Aly: Department of Mechanical Engineering, College of Engineering, Taif University, Taif 21944, Saudi Arabia
Mai The Vu: School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea
Fayez F. M. El-Sousy: Department of Electrical Engineering, Prince Sattam Bin Abdulaziz University, Al Kharj 11991, Saudi Arabia
Ahmed Alotaibi: Department of Mechanical Engineering, College of Engineering, Taif University, Taif 21944, Saudi Arabia
Ghassan Mousa: King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia
Dac-Nhuong Le: King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia
Saleh Mobayen: Future Technology Research Center, National Yunlin University of Science and Technology, Douliou, Yunlin 64002, Taiwan

Mathematics, 2022, vol. 10, issue 17, 1-19

Abstract: In this article, the position tracking control of the wheelchair upper-limb exoskeleton robotic system is investigated with the aim of rehabilitation of disabled people. Hence, the fuzzy nonsingular terminal sliding mode control method by using the state observer with a fixed-time convergence rate is designed in three main parts. In the first part, the fixed-time state observer is proposed for estimation of the states of the system. Secondly, the fixed-time convergence of position tracking error of the upper-limb exoskeleton robot system is examined by using the nonsingular terminal sliding mode control approach. In the third part, with the target of the improvement of the controller performance for removal of the chattering phenomenon which diminishes the controller performance, the fuzzy control method is used. Finally, the efficiency and proficiency of the proposed control method on the upper limb exoskeleton robotic system are demonstrated via the simulation results which are provided by MATLAB/Simulink software. In this part, simulation results are obtained based on different initial conditions in two examples using various desired values. Thus, it can be demonstrated that the proposed method applied to the upper-limb exoskeleton robot system is robust under various initial conditions and desired values.

Keywords: fuzzy control; exoskeleton robot; disabled people; sliding mode control; state observer; fixed-time convergence (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
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