|A 7-DoF Upper Limb Exoskeleton Robot Control Using a New Robust Hybrid Controller
Mehran Rahmani*, Mohammad Habib Rahman, and Jawhar Ghommam
International Journal of Control, Automation, and Systems, vol. 17, no. 4, pp.986-994, 2019
Abstract : "This article describes a novel robust hybrid control of a 7-DoF upper limb exoskeleton robot. Insensivity
can be taken into consideration as the important feature of sliding mode controllers, which is merely valid in the
sliding phase. In order to improve controller performance by eliminating or minimizing the time to reach the
sliding phase, a sliding surface design can be designed appropriately. In this study, a new sliding mode controller
is designed to achieve high performance, which is robust against external disturbances. PID controllers have been
widely used in robotic systems since high trajectory can be one of the most important advantages of this controller.
Therefore, by combining a new sliding mode controller and a conventional PID controller, a novel hybrid controller
is proposed which has excellent performance. Simulation results demonstrate the effectiveness of the proposed
Hybrid control method, PID controller, sliding mode controller, upper limb exoskeleton robot.