A Robust Model Free Adaptive Terminal Sliding Mode With Gravity Compensation Controller Development

This paper deals with the development of a new Model Free Adaptive Terminal Sliding Mode with Gravity Compensation controller. This algorithm will be applied to an exoskeleton-upper limb system having two-degree-of-freedom (2-DoF). The objective of this work is to model and to monitor the $\mathbf{flexion}/\mathbf{extension}$ movements of the shoulder and the elbow. First, the dynamic modeling of the considered system is presented. Then, the anthropometric human upper-limb parameters determination is introduced. Next, a model free adaptive terminal sliding mode with gravity compensation approach (MFATSMGC) is developed to control the exoskeleton-upper limb system. Finally, the performance and the robustness of the proposed controller are presented by simulation results.