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Adaptive Finite-Time Robust Sliding Mode Controller For Upper Limb Exoskeleton Robot

An adaptive finite-time robust sliding mode controller is presented in this work to regulate the trajectories of an upper limb exoskeleton rehabilitation robot. The goal is to build a controller that can handle constraints that alter the achievement of the rehabilitation process using the robot, such as modeling errors, uncertainties, and external disturbances. The suggested technique maintains the fundamental robustness of sliding mode control while also allowing for global finite-time convergence of the system's states. Furthermore, the presented controller is homogeneous and uses adaptive gains to eliminate requirements of preliminary knowledge on uncertainties and external disturbances bounds. The Lyapunov theory is used to determine stability. Simulations of passive trajectory tracking exercises are illustrated to check the efficacy of the developed control approach.