Adaptive super-twisting sliding mode control is a M.Tech project topic for Electrical Engineering. It gives students a clear starting point for research, implementation planning, and documentation.
Adaptive super-twisting sliding mode control Project Details
| Abstract |
Pneumatic Artificial Muscle (PAM)-actuated rehabilitation robots offer a compliant alternative to traditional motor-driven systems, mimicking human muscle viscoelasticity. However, precise trajectory tracking presents a significant control challenge due to inherent nonlinearities, complex dynamics, friction, and external disturbances. This paper introduces an Adaptive Finite Time Super-Twisting Sliding Mode Control (ASTSMC) strategy designed for robust trajectory tracking in a leg rehabilitation manipulator performing hip/knee flexion-extension exercises. The system models the human leg as a planar 2-DOF structure, with dynamics derived using the Euler-Lagrange formulation, incorporating viscous-Coulomb friction and antagonistic PAM torque generation. The proposed controller utilizes a second-order sliding mode law to ensure a continuous control signal, thereby effectively mitigating high-frequency oscillations.
An adaptive gain law is integrated to manage unknown lumped uncertainties without requiring prior knowledge of their upper bounds. Lyapunov stability analysis confirms the finite-time convergence of tracking errors. Simulation results obtained using MATLAB/Simulink demonstrate that the ASTSMC achieves superior trajectory tracking accuracy, validating its effectiveness in handling the complexities of PAM-driven robotic systems.
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| Reference Paper |
Adaptive super-twisting sliding mode control for robust tracking of wearable PAM-driven robotic manipulator |
| Domain |
Electrical Engineering |
| Sub-Domain |
Control Systems / Adaptive Control |
| PDF Download |
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