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Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties

Ahmed, Syed Faiz and Raza, Yarooq and T. Hussian, Abadal Salam and Joyo, M. Kamran and Shah, Asadullah (2019) Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties. Intentional journal of Engineering and Advanced Technology (IJEAT), 9 (2). pp. 3268-3274. ISSN 2249-8958

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Abstract

rehabilitation of patients suffering from post-stroke injuries via robots in now adapted world widely. The aim of this therapy is to restore and improve the dysfunction and the performance of the affected limbs doing repetitive tasks with the help of rehabilitation robots, as robots are best way to perform repetitive task without and monotony failure, Control of these rehabilitation robots is an important part to consider because of nonlinear sliding mode controller (SMC) for controlling a 2 degrees of freedom (DOF) upper limb robotic manipulators. Sliding mode control is able to handle system uncertainties and parametric changes, One drawback of using SMC is high frequency osculations called layer techniques. This chattering can be reduced by using boundary layer techniques. Experiments have been carried our under perturbed conditions and results have been shown that SMC performance well and remain stable and thus proves to robust controller for upper limb robotic manipulator.

Item Type: Article (Journal)
Additional Information: 6566/78170
Uncontrolled Keywords: Rehabilitation robots; Non-linearities; Sliding Mode Control; Chattering; Boundary Layer Technique; Perturbed Condition.
Subjects: T Technology > T Technology (General) > T10.5 Communication of technical information
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button): Kulliyyah of Information and Communication Technology > Department of Information System
Kulliyyah of Information and Communication Technology > Department of Information System
Depositing User: Asadullah Shah Syed
Date Deposited: 04 Feb 2020 11:50
Last Modified: 04 Feb 2020 11:50
URI: http://irep.iium.edu.my/id/eprint/78170

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