Optimal sliding mode controller design based on whale optimization algorithm for lower limb rehabilitation robot

• Autorzy: Sabah Noor , Hameed Ekhlas , Al-Huseiny Muayed S

Identyfikatory

DOI

10.23743/acs-2021-20

• Języki publikacji: EN

Abstrakty

EN

The Sliding Mode Controllers (SMCs) are considered among the most common stabilizer and controllers used with robotic systems due to their robust nonlinear scheme designed to control nonlinear systems. SMCs are insensitive to external disturbance and system parameters variations. Although the SMC is an adaptive and model-based controller, some of its values need to be determined precisely. In this paper, an Optimal Sliding Mode Controller (OSMC) is suggested based on Whale Optimization Algorithm (WOA) to control a two-link lower limb rehabilitation robot. This controller has two parts, the equivalent part, and the supervisory controller part. The stability assurance of the controlled rehabilitation robot is analyzed based on Lyapunov stability. The WO algorithm is used to determine optimal parameters for the suggested SMC. Simulation results of two tested trajectories (linear step signal and nonlinear sine signal) demonstrate the effectiveness of the suggested OSMC with fast response, very small overshoot, and minimum steady-state error.

Słowa kluczowe

EN

Optimal Sliding Mode Controller; Whale Optimization Algorithm; lower limb; rehabilitation robot

PL

Optimal Sliding Mode Controller; Whale Optimization Algorithm; kończyna dolna; robot rehabilitacyjny

• Wydawca: Polskie Towarzystwo Promocji Wiedzy ; Lublin University of Technology
• Czasopismo: Applied Computer Science
• Rocznik: 2021
• Tom: Vol. 17, no 3
• Strony: 47--59
• Opis fizyczny: Bibliogr. 19 poz., fig., tab.

Twórcy

autor

Sabah Noor

• University of Wasit, Electrical Engineering Department, Iraq

• https://orcid.org/0000-0003-1512-1158

autor

Hameed Ekhlas

• Computer Engineering Department, Iraq

• https://orcid.org/0000-0002-9039-2030

autor

Al-Huseiny Muayed S

• University of Wasit, Electrical Engineering Department, Iraq

• https://orcid.org/0000-0003-3192-0232

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).