Asymmetric Constrained Control of a Cervical Orthotic Device Based on Barrier Sliding Modes
نویسندگان
چکیده
This work proposes a robust sliding mode controller to enforce the tracking trajectory of cervical orthotic device subjected asymmetric box constraints. The convergence analysis employs an barrier Lyapunov function (ABLF), whose argument is restricted surface. stability demonstrates finite-time states towards surface and, therefore, exponential system trajectories. ensures fulfillment restrictions imposed on and consequently over states. Numerical simulations exhibit performance proposed ensuring movements for flexion extension virtual device. obey constraints according therapies by medical specialists.
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متن کاملComments on "Sliding-mode motion/force control of constrained robots
The incorrectness of a main assumption in note [1] waspointed out by [2]. This note proposes a correction.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2022
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app122010286