VGU RESEARCH REPOSITORY
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https://epub.vgu.edu.vn/handle/dlibvgu/88
Title: | A new novel exponential optimal sliding mode control and its application for lower-limb exoskeleton | Authors: | Nguyen Quoc Van Do Xuan Phu |
Keywords: | Mathematical model;Sliding mode control;Optimal control;Vibration control;Exoskeletons;Simulation | Issue Date: | 2019 | Publisher: | IEEE Xplore | Journal/Book titles: | 2019 International Conference on System Science and Engineering (ICSSE) | Abstract: | In this study, a new novel exponential optimal sliding mode control is presented. In the proposed control, the Riccati-like equation is used to combine with the cost function of the optimal control for design. The steady-state form following the Riccati-like equation is also established and then the symmetric gain of the sliding surface is determined. A new robustness control supporting the equivalent control of the system is proposed following a novel exponential function of sliding surface. After formulating, the proposed control is simulated by applying to vibration control of a lower-limb exoskeleton. Simulation results show that the proposed controller is good performance and can be used for control real systems. 564-567 |
Index & Ranking: | IEEE | URI(1): | http://epub.vgu.edu.vn/handle/dlibvgu/88 | DOI: | 10.1109/ICSSE.2019.8823419 |
Appears in Collections: | ARTICLE/BOOK PUBLICATION |
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