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A robust control of a 2 DOF exoskeleton-upper limb system using Monte Carlo analysis

This paper deals with a new adaptive terminal sliding mode control of an exoskeleton-upper limb system. The considered system is a 2 DoF robot in interaction with an upper limb used for rehabilitation. The objective is to control the flexion/ extension movement of the shoulder and the elbow in presence of disturbances. First, the modeling and the control of the system using different laws were made. Next, a stability study is realized. Then, a comparison study between these different algorithms was done based on Monte Carlo robustness analysis method. Finally, the performance and the effectiveness of the adaptive terminal sliding mode algorithm in presence of uncertainties are provided by simulation results.