Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties

rehabilitation of patients suffering from post-stroke injuries via robots in now adapted world widely. The aim of this therapy is to restore and improve the dysfunction and the performance of the affected limbs doing repetitive tasks with the help of rehabilitation robots, as robots are best way to...

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Main Authors:	Ahmed, Syed Faiz, Raza, Yarooq, T. Hussian, Abadal Salam, Joyo, M. Kamran, Shah, Asadullah
Format:	Article
Language:	English
Published:	Blue Eyes Intelligence Engineering & Sciences Publication (BEIESP) 2019
Subjects:	T10.5 Communication of technical information
Online Access:	http://irep.iium.edu.my/78170/ http://irep.iium.edu.my/78170/ http://irep.iium.edu.my/78170/ http://irep.iium.edu.my/78170/1/Faiz-paper-2019.pdf

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spelling	iium-781702020-02-04T03:50:51Z http://irep.iium.edu.my/78170/ Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties Ahmed, Syed Faiz Raza, Yarooq T. Hussian, Abadal Salam Joyo, M. Kamran Shah, Asadullah T10.5 Communication of technical information rehabilitation of patients suffering from post-stroke injuries via robots in now adapted world widely. The aim of this therapy is to restore and improve the dysfunction and the performance of the affected limbs doing repetitive tasks with the help of rehabilitation robots, as robots are best way to perform repetitive task without and monotony failure, Control of these rehabilitation robots is an important part to consider because of nonlinear sliding mode controller (SMC) for controlling a 2 degrees of freedom (DOF) upper limb robotic manipulators. Sliding mode control is able to handle system uncertainties and parametric changes, One drawback of using SMC is high frequency osculations called layer techniques. This chattering can be reduced by using boundary layer techniques. Experiments have been carried our under perturbed conditions and results have been shown that SMC performance well and remain stable and thus proves to robust controller for upper limb robotic manipulator. Blue Eyes Intelligence Engineering & Sciences Publication (BEIESP) 2019-12 Article PeerReviewed application/pdf en http://irep.iium.edu.my/78170/1/Faiz-paper-2019.pdf Ahmed, Syed Faiz and Raza, Yarooq and T. Hussian, Abadal Salam and Joyo, M. Kamran and Shah, Asadullah (2019) Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties. Intentional journal of Engineering and Advanced Technology (IJEAT), 9 (2). pp. 3268-3274. ISSN 2249-8958 https://www.ijeat.org/wp-content/uploads/papers/v9i2/B3250129219.pdf 10.35940/ijeat.A9833.109119
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	T10.5 Communication of technical information
spellingShingle	T10.5 Communication of technical information Ahmed, Syed Faiz Raza, Yarooq T. Hussian, Abadal Salam Joyo, M. Kamran Shah, Asadullah Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties
description	rehabilitation of patients suffering from post-stroke injuries via robots in now adapted world widely. The aim of this therapy is to restore and improve the dysfunction and the performance of the affected limbs doing repetitive tasks with the help of rehabilitation robots, as robots are best way to perform repetitive task without and monotony failure, Control of these rehabilitation robots is an important part to consider because of nonlinear sliding mode controller (SMC) for controlling a 2 degrees of freedom (DOF) upper limb robotic manipulators. Sliding mode control is able to handle system uncertainties and parametric changes, One drawback of using SMC is high frequency osculations called layer techniques. This chattering can be reduced by using boundary layer techniques. Experiments have been carried our under perturbed conditions and results have been shown that SMC performance well and remain stable and thus proves to robust controller for upper limb robotic manipulator.
format	Article
author	Ahmed, Syed Faiz Raza, Yarooq T. Hussian, Abadal Salam Joyo, M. Kamran Shah, Asadullah
author_facet	Ahmed, Syed Faiz Raza, Yarooq T. Hussian, Abadal Salam Joyo, M. Kamran Shah, Asadullah
author_sort	Ahmed, Syed Faiz
title	Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties
title_short	Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties
title_full	Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties
title_fullStr	Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties
title_full_unstemmed	Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties
title_sort	sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties
publisher	Blue Eyes Intelligence Engineering & Sciences Publication (BEIESP)
publishDate	2019
url	http://irep.iium.edu.my/78170/ http://irep.iium.edu.my/78170/ http://irep.iium.edu.my/78170/ http://irep.iium.edu.my/78170/1/Faiz-paper-2019.pdf
first_indexed	2023-09-18T21:50:10Z
last_indexed	2023-09-18T21:50:10Z
_version_	1777413716341424128

Sliding mode control for 2 degrees of freedom upper limb rehabilitation robotics system under uncertainties

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