This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using the proposed control method, the tracking error can be successfully convergence to the assigned boundary. Meanwhile, the chattering effect caused by the actuators is already reduced, and the tracking performance of the pneumatic artificial muscles (PAMs) elbow exoskeleton is improved effectively.
A prescribed performance sliding mode control method was developed in this study to fulfill the joint position tracking trajectory task on the elbow exoskeleton driven by two PAMs. In terms of the control structure, a dynamic model was built by conforming to the adaptive law to compensate for the time variety and uncertainty exhibited by the system. Subsequently, a super-twisting algorithm-based second-order sliding mode control method was subjected to the exoskeleton under the boundedness of external disturbance. Moreover, the prescribed performance control method exhibits a smooth prescribed function with an error transformation function to ensure the tracking error can be finally convergent to the pre-designed requirement.
From the theoretical perspective, the stability of the control method was verified through Lyapunov synthesis. On that basis, the tracking performance of the proposed control method was confirmed through the simulation and the manikin model experiment.
As revealed by the results of this study, the proposed control method sufficiently applies to the PAMs elbow exoskeleton for tracking trajectory, which means it has potential application in the actual robot-assisted passive rehabilitation tasks.
