Sliding Mode Control with Model-Based Switching Functions applied on a 7-DOF Exoskeleton Arm
Charles Fallaha, Maarouf Saad, Jawhar Ghommam, Yassine Kali
Abstract
This article features a novel sliding mode controller for robotic arms using nonlinear model-based switching functions. The new controller is experimentally validated on a 7-DOF exoskeleton arm used for upper-limb rehabilitation applications. The proposed approach features a novel concept using model-based switching functions in the sliding mode controller, which leads to considerable simplifications on the torque control inputs. Compared to conventional linear switching functions, model-based switching functions show substantial control performance improvements on the torque inputs, such as transient constraints reduction and enhanced robustness, while maintaining a very good tracking performance. Moreover, model-based switching functions design ensures a complete decoupling of chattering effect between joint axes. Furthermore, this approach can be combined with existing chattering reduction techniques to ensure proper control of chattering levels on the torque inputs. These advantages make the practical implementation of the model-based switching functions approach particularly desirable for wearable robotics, where smooth movements and high accuracy are important requirements for patients' comfort and security.