Document Type : Research Paper
Authors
1 Control and systems engineering, mechatronics department/University of Technology, Baghdad, Iraq
2 Control and Systems Engineering Department, University of Technology, Baghdad, Iraq
Abstract
Physiotherapeutic exoskeleton devices have recently been developed to help
people rehabilitate impaired limb mobility and replace the use of physiotherapists. Such
systems are characterized by high nonlinear and time-varying coefficients. In order to
cope with such difficult control challenges, a need arose for reliable nonlinear
controllers. While in this study the Sliding Mode Control (SMC) was used to track the
trajectory of the knee exoskeleton-system (KES) while having parameter uncertainty. In
addition, the whale optimization algorithm (WOA) was introduced and developed to
adjust the thickness design parameters for further optimization of its performance. The
simulation was performed on a calculator using the MATLAB-Simulink program to
conduct a comparative study between the optimal and Classical SMC where the results
of comparison with the test parameters used by the SMC showed, the results of the
proposed optimal SMC revealed that the positioning inaccuracy of the knee increased by
31.8807% and it follows from this result that the controller could successfully perform
tracking the track well. Also, the control system created at the optimal thickness has a
better dynamic performance than the classical thickness.
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