Design of Optimal Sliding Mode Control of Elbow Wearable Exoskeleton System Based on Whale Optimization Algorithm

The high nonlinearity and time-varying coefficients characterize the elbow exoskeleton system for rehabilitation. To deal with these difficult control challenges, nonlinear reliable controllers are needed. This paper shows use of Sliding Mode Control (SMC) to track trajectory an Elbow Exoskeleton System (EES) presence parameter uncertainty. Whale Optimization Algorithm (WOA) algorithm is used tuning design parameters suggested performance improvement. Computer simulation based on MATLAB software has been implemented conduct a comparison study between optimal non-optimal SMC. findings that SMC outperforms version controller in terms performance.