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The paper concerns the development of a adaptive sliding mode control based on super twisting (ASTW) and can be applied to a Human-Driven Knee Joint Orthosis. Therefore, a model of the shank-orthosis system is given considering the human effort as an external torque acting on the system. The main objective of this paper is to bring together two approaches to reduce the phenomenon of chattering, adaptation...
In this paper, taking the advantages of the simplicity of PD control and the high tracking performance of SMC and avoiding the drawbacks of both control methods, a new hybrid PD-SMC tracking control is proposed for trajectory tracking control of a serial robot by applying the hybridization concept. The unique features of the proposed hybrid control law are the model-free nonlinear feedback control...
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