• صفحه اصلی
  • New Super-twisting Sliding Mode Control of an ‎Upper Limb Rehabilitation Robot Based on the ‎TLBO Algorithm

اشتراک گذاری

آدرس مقاله


کد مقاله : JADSC-2209-1070 (R1) بازدید : 97 صفحه: 44 - 53

20.1001.1.26764342.2022.5.2.5.7

نوع مقاله: پژوهشی

New Super-twisting Sliding Mode Control of an ‎Upper Limb Rehabilitation Robot Based on the ‎TLBO Algorithm

محورهای موضوعی : Electrical Engineering

Naghmeh Mirrashid 1 (Department of Electrical Engineering, Aliabad Katoul Branch, Islamic Azad University, Aliabad Katoul, Iran)
Esmaeil Alibeiki 2 (Department of Electrical Engineering, Aliabad Katoul Branch, Islamic Azad University, Aliabad Katoul, Iran)
Seyed Mehdi Rakhtala 3 (Faculty of Engineering, Department of Electrical Engineering, Golestan University, Gorgan, Iran)

تاریخ دریافت : 1401/07/06 تاریخ پذیرش : 1401/08/18 تاریخ انتشار : 1401/09/10

کلید واژه: Dynamic Modeling, TLBO Algorithm, Lyapunov Stability, Rehabilitation Robot, Super twisting algorithm,

چکیده مقاله :

Rehabilitation robots are very popular because they are beneficial tools in helping stroke patients and people with physical disabilities, so controlling them to get accurate performance is necessary. This paper presents a new super-twisting controller based on the determined gain with the TLBO algorithm (STA-TLBO) for an upper limb rehabilitation robot for the first time. One of the most important parts of designing the super twisting algorithm (STA) controller is determining the gains, which requires accurate calculations and obtaining disturbance. In this paper, the Teaching–Learning-Based Optimization (TLBO) algorithm is used to obtain the gains of the STA controller. To illustrate the validity of the proposed controller, the results are compared to PID, STA, and PID-TLBO controllers. The results indicate that the proposed controller ensures accurate tracking, finite-time convergence, and reduced chattering. The stability and the robustness of the PID-TLBO and STA-TLBO controllers are examined by three tests, parameter uncertainties, external disturbances, and step response. The results show that the STA-TLBO controller has a better performance than the others under different conditions; that means the proposed controller has a shorter convergence time, more accurate tracking, and fewer tracking error than the other three controllers.

چکیده انگلیسی:

منابع و مأخذ:


  1. Zhou, L., Li, Y. and Bai, S., "A human-centered design optimization approach for robotic exoskeletons through biomechanical simulation", Robotics and Autonomous Systems, Vol. 91, (2017), 337-347.
    2.
  2. Asbeck, A.T., De Rossi, S.M., Galiana, I., Ding, Y. and Walsh, C.J., "Stronger, smarter, softer: Next-generation wearable robots", IEEE Robotics & Automation Magazine, Vol. 21, No. 4, (2014), 22-33.
    3.
  3. Lee, S., Crea, S., Malcolm, P., Galiana, I., Asbeck, A. and Walsh, C., "Controlling negative and positive power at the ankle with a soft exosuit", in 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE., (2016), 3509-3515.
    4.
  4. Rupal, B.S., Rafique, S., Singla, A., Singla, E., Isaksson, M. and Virk, G.S., "Lower-limb exoskeletons: Research trends and regulatory guidelines in medical and non-medical applications", International Journal of Advanced Robotic Systems, Vol. 14, No. 6, (2017), 1729881417743554.
    5.
  5. Wu, Q., Wang, X., Chen, B. and Wu, H., "Design and fuzzy sliding mode admittance control of a soft wearable exoskeleton for elbow rehabilitation", IEEE Access, Vol. 6, (2018), 60249-60263.
    6.
  6. Villoslada, A., Flores, A., Copaci, D., Blanco, D. and Moreno, L., "High-displacement flexible shape memory alloy actuator for soft wearable robots", Robotics and Autonomous Systems, Vol. 73, (2015), 91-101.
    7.
  7. Nef, T., Mihelj, M. and Riener, R., "Armin: A robot for patient-cooperative arm therapy", Medical & biological engineering & computing, Vol. 45, No. 9, (2007), 887-900.
    8.
  8. Mihelj, M., Nef, T. and Riener, R., "Armin ii-7 dof rehabilitation robot: Mechanics and kinematics", in Proceedings 2007 IEEE International Conference on Robotics and Automation, IEEE., (2007), 4120-4125.
    9.
  9. Nef, T., Guidali, M. and Riener, R., "Armin iii–arm therapy exoskeleton with an ergonomic shoulder actuation", Applied Bionics and Biomechanics, Vol. 6, No. 2, (2009), 127-142.
    10.
  10. Stienen, A.H., Hekman, E.E., Prange, G.B., Jannink, M.J., Aalsma, A.M., van der Helm, F.C. and van der Kooij, H., "Dampace: Design of an exoskeleton for force-coordination training in upper-extremity rehabilitation", Journal of medical devices, Vol. 3, No. 3, (2009).
    11.
  11. Otten, A., Voort, C., Stienen, A., Aarts, R., van Asseldonk, E. and van der Kooij, H., "Limpact: A hydraulically powered self-aligning upper limb exoskeleton", IEEE/ASME transactions on mechatronics, Vol. 20, No. 5, (2015), 2285-2298.
    12.
  12. Keller, U., van Hedel, H.J., Klamroth-Marganska, V. and Riener, R., "Charmin: The first actuated exoskeleton robot for pediatric arm rehabilitation", IEEE/ASME transactions on mechatronics, Vol. 21, No. 5, (2016), 2201-2213.
    13.
  13. Brahim, B., Ochoa-Luna, C., Saad, M., Assad-Uz-Zaman, M., Islam, M.R. and Rahman, M.H., "A new adaptive super-twisting control for an exoskeleton robot with dynamic uncertainties", in 2017 IEEE Great Lakes Biomedical Conference (GLBC), IEEE., (2017), 1-1.
    14.
  14. Stroppa, F., Loconsole, C., Marcheschi, S. and Frisoli, A., A robot-assisted neuro-rehabilitation system for post-stroke patients’ motor skill evaluation with alex exoskeleton, in Converging clinical and engineering research on neurorehabilitation ii. 2017, Springer.501-505.
    15.
  15. Xiao, F., Gao, Y., Wang, Y., Zhu, Y. and Zhao, J., "Design of a wearable cable-driven upper limb exoskeleton based on epicyclic gear trains structure", Technology and Health Care, Vol. 25, No. S1, (2017), 3-11.
    16.
  16. Lu, L., Wu, Q., Chen, X., Shao, Z., Chen, B. and Wu, H., "Development of a semg-based torque estimation control strategy for a soft elbow exoskeleton", Robotics and Autonomous Systems, Vol. 111, (2019), 88-98.
    17.
  17. Kaneko, M., Paetsch, W. and Tolle, H., "Input-dependent stability of joint torque control of tendon-driven robot hands", IEEE Transactions on Industrial Electronics, Vol. 39, No. 2, (1992), 96-104.
    18.
  18. Fuxiang, T. and Xingsong, W., "The design of a tendon-sheath-driven robot", in 2008 15th International Conference on Mechatronics and Machine Vision in Practice, IEEE., (2008), 280-284.
    19.
  19. Agrawal, V., Peine, W.J., Yao, B. and Choi, S., "Control of cable actuated devices using smooth backlash inverse", in 2010 IEEE International Conference on Robotics and Automation, IEEE., (2010), 1074-1079.
    20.
  20. Dinh, B.K., Xiloyannis, M., Cappello, L., Antuvan, C.W., Yen, S.-C. and Masia, L., "Adaptive backlash compensation in upper limb soft wearable exoskeletons", Robotics and Autonomous Systems, Vol. 92, (2017), 173-186.
    21.
  21. Falisse, A., Van Rossom, S., Jonkers, I. and De Groote, F., "Emg-driven optimal estimation of subject-specific hill model muscle–tendon parameters of the knee joint actuators", IEEE Transactions on Biomedical Engineering, Vol. 64, No. 9, (2016), 2253-2262.
    22.
  22. Crea, S., Cempini, M., Moise, M., Baldoni, A., Trigili, E., Marconi, D., Cortese, M., Giovacchini, F., Posteraro, F. and Vitiello, N., "A novel shoulder-elbow exoskeleton with series elastic actuators", in 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), IEEE., (2016), 1248-1253.
    23.
  23. Kawasaki, H., Ito, S., Ishigure, Y., Nishimoto, Y., Aoki, T., Mouri, T., Sakaeda, H. and Abe, M., "Development of a hand motion assist robot for rehabilitation therapy by patient self-motion control", in 2007 IEEE 10th International Conference on Rehabilitation Robotics, IEEE., (2007), 234-240.
    24.
  24. Rosati, G., Gallina, P. and Masiero, S., "Design, implementation and clinical tests of a wire-based robot for neurorehabilitation", IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 15, No. 4, (2007), 560-569.
    25.
  25. Sharma, M.K. and Ordonez, R., "Design and fabrication of an intention based upper-limb exo-skeleton", in 2016 IEEE International Symposium on Intelligent Control (ISIC), IEEE., (2016), 1-6.
    26.
  26. Li, L., Weng, W. and Fujimura, S., "An improved teaching-learning-based optimization algorithm to solve job shop scheduling problems", in 2017 IEEE/ACIS 16th International Conference on Computer and Information Science (ICIS), IEEE., (2017), 797-801.
    27.
  27. Kiguchi, K., Tanaka, T. and Fukuda, T., "Neuro-fuzzy control of a robotic exoskeleton with emg signals", IEEE Transactions on fuzzy systems, Vol. 12, No. 4, (2004), 481-490.
    28.
  28. Kang, H.-B. and Wang, J.-H., "Adaptive robust control of 5 dof upper-limb exoskeleton robot", International Journal of Control, Automation and Systems, Vol. 13, No. 3, (2015), 733-741.
    29.
  29. Rahman, M.H., Saad, M., Kenné, J.P. and Archambault, P.S., "Nonlinear sliding mode control implementation of an upper limb exoskeleton robot to provide passive rehabilitation therapy", in International Conference on Intelligent Robotics and Applications, Springer., (2012), 52-62.
    30.
  30. Lilly, J.H. and Quesada, P.M., "A two-input sliding-mode controller for a planar arm actuated by four pneumatic muscle groups", IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 12, No. 3, (2004), 349-359.
    31.
  31. Rahman, M., Saad, M., Kenne, J. and Archambault, P., "Modeling and development of an exoskeleton robot for rehabilitation of wrist movements", in 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE., (2010), 25-30.
    32.
  32. Rahman, M.H., Kittel-Ouimet, T., Saad, M., Kenné, J.-P. and Archambault, P.S., "Development and control of a robotic exoskeleton for shoulder, elbow and forearm movement assistance", Applied Bionics and Biomechanics, Vol. 9, No. 3, (2012), 275-292.
    33.
  33. Joo, Y.H. and Duong, P.X., "Parameter estimator integrated-sliding mode control of dual arm robots", International Journal of Control, Automation and Systems, Vol. 15, No. 6, (2017), 2754-2763.
    34.
  34. Ali Akbar Semnani, M., Vali, A., Hakimi, S.M. and behnamgol, v., "Heartbeat ecg tracking systems using observer based nonlinear controller", Journal of Applied Dynamic Systems and Control, Vol. 4, No. 2, (2021), 69-78.
    35.
  35. Hokmabadi, A., "Study and design of a fractional-order terminal sliding mode fault-‎tolerant control for spacecraft", Journal of Applied Dynamic Systems and Control, Vol. 1, No. 1, (2018), 10-15.
    36.
  36. Rao, R.V., Savsani, V.J. and Vakharia, D., "Teaching–learning-based optimization: A novel method for constrained mechanical design optimization problems", Computer-Aided Design, Vol. 43, No. 3, (2011), 303-315.
    37.
  37. Niknam, T., Azizipanah-Abarghooee, R. and Narimani, M.R., "A new multi objective optimization approach based on tlbo for location of automatic voltage regulators in distribution systems", Engineering Applications of Artificial Intelligence, Vol. 25, No. 8, (2012), 1577-1588.
    38.
  38. Rao, R.V., Savsani, V.J. and Vakharia, D., "Teaching–learning-based optimization: An optimization method for continuous non-linear large scale problems", Information sciences, Vol. 183, No. 1, (2012), 1-15.
    39.
  39. Rosales, Y., Lopez, R., Rosales, I., Salazar, S. and Lozano, R., "Design and modeling of an upper limb exoskeleton", in 2015 19th International Conference on System Theory, Control and Computing (ICSTCC), IEEE. Vol., No. Issue, (2015), 266-272.
    40.
  40. Mirrashid, N., Alibeiki, E. and Rakhtala, S.M., "Development and control of an upper limb rehabilitation robot via aco-pid and fuzzy-pid controllers", International Journal of Engineering, Vol. 35, No. 8, (2022), -.
    41.
  41. Mirrashid, N., Alibeiki, E. and Rakhtala, S.M., "Nonlinear robust controller design for an upper limb rehabilitation robot via variable gain super twisting sliding mode", International Journal of Dynamics and Control, (2022).
    42.
  42. Fazli, E., Rakhtala, S.M., Mirrashid, N. and Karimi, H.R., "Real-time implementation of a super twisting control algorithm for an upper limb wearable robot", Mechatronics, Vol. 84, (2022), 102808.
    43.
  43. Levant, A., "Sliding order and sliding accuracy in sliding mode control", International journal of control, Vol. 58, No. 6, (1993), 1247-1263.
    44.
  44. Mirrashid, N., Rakhtala, S.M. and Ghanbari, M., "Robust control design for air breathing proton exchange membrane fuel cell system via variable gain second‐order sliding mode", Energy Science & Engineering, Vol. 6, No. 3, (2018), 126-143.
    45.

مقالات مرتبط

حقوق این وب‌سایت متعلق به سامانه مدیریت نشریات دانشگاه آزاد اسلامی است.
حق نشر © 1403-1400

صفحه اصلی| عضویت/ ورود| درباره سند| تماس با ما|
[English] [العربية] [en] [ar]