An upper-limb exoskeleton robot control using a novel fast fuzzy sliding mode control

Abstract

This paper considers a new fuzzy sliding mode control (NFSMC) of a 7 Degree of Freedoms (7-DoF) upper-limb exoskeleton robot. The proposed exoskeleton robot has a complex structure, an appropriate control method should be chosen for this robotics system. Therefore, a new sliding mode controller (NS MC) is applied for controlling of this robot conveniently. For this task, a novel sliding surface is selected, which is robust against external disturbances and unknown dynamics such as friction forces, different upper-limb’s mass, backlash, and input saturation. In order to improve the control method, fuzzy control is applied. Simulation results clearly validates that the proposed control method has some advantages such as high trajectory tracking, robustness, and zero tracking error.