Title :
Intelligent nonsingular terminal sliding mode control for single-degree-of-freedom knee rehabilitation system
Author :
Chin-Sheng Chen ; Jia-Hung Chiou ; Shun-Hung Tsai
Author_Institution :
Grad. Inst. of Autom. Technol., Nat. Taipei Univ. of Technol., Taipei, Taiwan
fDate :
May 31 2013-June 2 2013
Abstract :
In this paper, an intelligent non-singular terminal sliding mode (INTSMC) controller is proposed to control the single-degree-of-freedom knee rehabilitation system. This continuous passive motion (CPM) machine base on constraint-induced movement therapy (CIMT) is for patients who are receiving knee rehabilitation. First we use principle of virtual work to obtain the dynamic equation of CPM machine. An INTSMC which involves recurrent Chebyshev neural network (RCNN) estimator to estimate and compensate the unknown matching disturbance and the uncertainty of CPM machine online is proposed to achieve finite time tracking control. Finally some experimental results are obtained to show the validity of the proposed control approach.
Keywords :
intelligent control; medical control systems; patient rehabilitation; patient treatment; position control; recurrent neural nets; variable structure systems; CIMT; CPM machine; INTSMC; RCNN estimator; constraint-induced movement therapy; continuous passive motion machine; dynamic equation; finite time tracking control; intelligent nonsingular terminal sliding mode control; recurrent Chebyshev neural network estimator; single-degree-of-freedom knee rehabilitation system; unknown matching disturbance; virtual work; Dynamics; Intelligent systems; Knee; Robots; Thigh; Uncertainty; Vectors; disturbance and uncertainty; estimator; intelligent nonsingular terminal sliding mode control; knee rehabilitation;
Conference_Titel :
Advanced Robotics and Intelligent Systems (ARIS), 2013 International Conference on
Conference_Location :
Tainan
Print_ISBN :
978-1-4799-0100-5
DOI :
10.1109/ARIS.2013.6573543
