Abstract
In this paper, a robust controller based on Barrier Lyapunov functions coupled to sliding modes is tuned in order to control a back orthosis. The controller ensures the tracking error stays in a symmetric bounded region by imposing a barrier to both the angular velocity and acceleration errors with respect to a given trajectory. The performance of the controller to minimize the tracking error given an external disturbance is evaluated by comparing it to other common controller strategies (proportional-derivative and sliding modes).
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Acknowledgments
The authors thank the financial support provided by Instituto Politécnico Nacional through the Research Grants labeled: SIP-20211220, SIP-20211863, SIP-20212116 and SIP-20212114.
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Lozano, A., Torres, F., López, S., Ballesteros, M., Cruz-Ortiz, D., Chairez, I. (2022). Robust Control of a Virtual Back-Assisted Orthosis Under Position Constraints. In: Moreno, H.A., Carrera, I.G., Ramírez-Mendoza, R.A., Baca, J., Banfield, I.A. (eds) Advances in Automation and Robotics Research. LACAR 2021. Lecture Notes in Networks and Systems, vol 347. Springer, Cham. https://doi.org/10.1007/978-3-030-90033-5_8
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DOI: https://doi.org/10.1007/978-3-030-90033-5_8
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