IDEAS home Printed from https://ideas.repec.org/a/gam/jmathe/v10y2022i17p3147-d904488.html
   My bibliography  Save this article

Fuzzy-Based Fixed-Time Nonsingular Tracker of Exoskeleton Robots for Disabilities Using Sliding Mode State Observer

Author

Listed:
  • Ayman A. Aly

    (Department of Mechanical Engineering, College of Engineering, Taif University, Taif 21944, Saudi Arabia
    King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia
    Ayman A. Aly and Mai The Vu are the first authors, these authors contributed equally to this work.)

  • Mai The Vu

    (School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea
    Ayman A. Aly and Mai The Vu are the first authors, these authors contributed equally to this work.)

  • Fayez F. M. El-Sousy

    (Department of Electrical Engineering, Prince Sattam Bin Abdulaziz University, Al Kharj 11991, Saudi Arabia)

  • Ahmed Alotaibi

    (Department of Mechanical Engineering, College of Engineering, Taif University, Taif 21944, Saudi Arabia
    King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia)

  • Ghassan Mousa

    (King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia
    Department of Mechanical Engineering, Faculty of Engineering, King Abdulaziz University, Jeddah 21589, Saudi Arabia)

  • Dac-Nhuong Le

    (King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia
    Institute of Research and Development, Duy Tan University, Danang 550000, Vietnam)

  • Saleh Mobayen

    (Future Technology Research Center, National Yunlin University of Science and Technology, Douliou, Yunlin 64002, Taiwan)

Abstract

In this article, the position tracking control of the wheelchair upper-limb exoskeleton robotic system is investigated with the aim of rehabilitation of disabled people. Hence, the fuzzy nonsingular terminal sliding mode control method by using the state observer with a fixed-time convergence rate is designed in three main parts. In the first part, the fixed-time state observer is proposed for estimation of the states of the system. Secondly, the fixed-time convergence of position tracking error of the upper-limb exoskeleton robot system is examined by using the nonsingular terminal sliding mode control approach. In the third part, with the target of the improvement of the controller performance for removal of the chattering phenomenon which diminishes the controller performance, the fuzzy control method is used. Finally, the efficiency and proficiency of the proposed control method on the upper limb exoskeleton robotic system are demonstrated via the simulation results which are provided by MATLAB/Simulink software. In this part, simulation results are obtained based on different initial conditions in two examples using various desired values. Thus, it can be demonstrated that the proposed method applied to the upper-limb exoskeleton robot system is robust under various initial conditions and desired values.

Suggested Citation

  • Ayman A. Aly & Mai The Vu & Fayez F. M. El-Sousy & Ahmed Alotaibi & Ghassan Mousa & Dac-Nhuong Le & Saleh Mobayen, 2022. "Fuzzy-Based Fixed-Time Nonsingular Tracker of Exoskeleton Robots for Disabilities Using Sliding Mode State Observer," Mathematics, MDPI, vol. 10(17), pages 1-19, September.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:17:p:3147-:d:904488
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/2227-7390/10/17/3147/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/2227-7390/10/17/3147/
    Download Restriction: no
    ---><---

    References listed on IDEAS

    as
    1. Mai The Vu & Khalid A. Alattas & Yassine Bouteraa & Reza Rahmani & Afef Fekih & Saleh Mobayen & Wudhichai Assawinchaichote, 2022. "Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot," Mathematics, MDPI, vol. 10(11), pages 1-36, June.
    2. Mobayen, Saleh & Majd, Vahid Johari & Sojoodi, Mahdi, 2012. "An LMI-based composite nonlinear feedback terminal sliding-mode controller design for disturbed MIMO systems," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 85(C), pages 1-10.
    3. Razzaghian, Amir, 2022. "A fuzzy neural network-based fractional-order Lyapunov-based robust control strategy for exoskeleton robots: Application in upper-limb rehabilitation," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 193(C), pages 567-583.
    4. Mojtaba Ahmadieh Khanesar & David Branson, 2022. "Robust Sliding Mode Fuzzy Control of Industrial Robots Using an Extended Kalman Filter Inverse Kinematic Solver," Energies, MDPI, vol. 15(5), pages 1-17, March.
    5. Khalid A. Alattas & Mai The Vu & Omid Mofid & Fayez F. M. El-Sousy & Abdullah K. Alanazi & Jan Awrejcewicz & Saleh Mobayen, 2022. "Adaptive Nonsingular Terminal Sliding Mode Control for Performance Improvement of Perturbed Nonlinear Systems," Mathematics, MDPI, vol. 10(7), pages 1-18, March.
    6. Khalid A. Alattas & Mai The Vu & Omid Mofid & Fayez F. M. El-Sousy & Afef Fekih & Saleh Mobayen, 2022. "Barrier Function-Based Nonsingular Finite-Time Tracker for Quadrotor UAVs Subject to Uncertainties and Input Constraints," Mathematics, MDPI, vol. 10(10), pages 1-16, May.
    Full references (including those not matched with items on IDEAS)

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Yassine Bouteraa & Khalid A. Alattas & Obaid Alshammari & Sondess Ben Aoun & Mohamed Amin Regaieg & Saleh Mobayen, 2022. "Interval Fuzzy Type-2 Sliding Mode Control Design of Six-DOF Robotic Manipulator," Mathematics, MDPI, vol. 10(24), pages 1-52, December.
    2. Afkar, Mohammad & Gavagsaz-Ghoachani, Roghayeh & Phattanasak, Matheepot & Pierfederici, Serge, 2024. "Voltage-balancing of two controllers for a DC-DC converter-based DC microgrid with experimental verification," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 221(C), pages 159-179.
    3. Zahra Mokhtare & Mai The Vu & Saleh Mobayen & Thaned Rojsiraphisal, 2022. "An Adaptive Barrier Function Terminal Sliding Mode Controller for Partial Seizure Disease Based on the Pinsky–Rinzel Mathematical Model," Mathematics, MDPI, vol. 10(16), pages 1-13, August.
    4. Mahmoodabadi, M.J., 2023. "An optimal robust fuzzy adaptive integral sliding mode controller based upon a multi-objective grey wolf optimization algorithm for a nonlinear uncertain chaotic system," Chaos, Solitons & Fractals, Elsevier, vol. 167(C).
    5. Mai The Vu & Khalid A. Alattas & Yassine Bouteraa & Reza Rahmani & Afef Fekih & Saleh Mobayen & Wudhichai Assawinchaichote, 2022. "Optimized Fuzzy Enhanced Robust Control Design for a Stewart Parallel Robot," Mathematics, MDPI, vol. 10(11), pages 1-36, June.
    6. Yan Yang & Yeqin Wang & Weixing Zhang & Zhenghao Li & Rui Liang, 2022. "Design of Adaptive Fuzzy Sliding-Mode Control for High-Performance Islanded Inverter in Micro-Grid," Energies, MDPI, vol. 15(23), pages 1-25, December.
    7. Amin Najafi & Mai The Vu & Saleh Mobayen & Jihad H. Asad & Afef Fekih, 2022. "Adaptive Barrier Fast Terminal Sliding Mode Actuator Fault Tolerant Control Approach for Quadrotor UAVs," Mathematics, MDPI, vol. 10(16), pages 1-22, August.
    8. Mai-The Vu & Kuo-Hsien Hsia & Fayez F. M. El-Sousy & Thaned Rojsiraphisal & Reza Rahmani & Saleh Mobayen, 2022. "Adaptive Fuzzy Control of a Cable-Driven Parallel Robot," Mathematics, MDPI, vol. 10(20), pages 1-16, October.
    9. Zahra Mokhtare & Mai The Vu & Saleh Mobayen & Afef Fekih, 2022. "Design of an LMI-Based Fuzzy Fast Terminal Sliding Mode Control Approach for Uncertain MIMO Systems," Mathematics, MDPI, vol. 10(8), pages 1-12, April.
    10. Ayman A. Aly & Kuo-Hsien Hsia & Fayez F. M. El-Sousy & Saleh Mobayen & Ahmed Alotaibi & Ghassan Mousa & Dac-Nhuong Le, 2022. "Adaptive Neural Backstepping Control Approach for Tracker Design of Wheelchair Upper-Limb Exoskeleton Robot System," Mathematics, MDPI, vol. 10(22), pages 1-16, November.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jmathe:v:10:y:2022:i:17:p:3147-:d:904488. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.