Control
Zahraa Ali Waheed; Amjad Jaleel Humaidi
Abstract
Physiotherapeutic exoskeleton devices have recently been developed to helppeople rehabilitate impaired limb mobility and replace the use of physiotherapists. Suchsystems are characterized by high nonlinear and time-varying coefficients. In order tocope with such difficult control challenges, a need arose ...
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Physiotherapeutic exoskeleton devices have recently been developed to helppeople rehabilitate impaired limb mobility and replace the use of physiotherapists. Suchsystems are characterized by high nonlinear and time-varying coefficients. In order tocope with such difficult control challenges, a need arose for reliable nonlinearcontrollers. While in this study the Sliding Mode Control (SMC) was used to track thetrajectory of the knee exoskeleton-system (KES) while having parameter uncertainty. Inaddition, the whale optimization algorithm (WOA) was introduced and developed toadjust the thickness design parameters for further optimization of its performance. Thesimulation was performed on a calculator using the MATLAB-Simulink program toconduct a comparative study between the optimal and Classical SMC where the resultsof comparison with the test parameters used by the SMC showed, the results of theproposed optimal SMC revealed that the positioning inaccuracy of the knee increased by31.8807% and it follows from this result that the controller could successfully performtracking the track well. Also, the control system created at the optimal thickness has abetter dynamic performance than the classical thickness.
