Fuzzy sliding mode control of 5 DOF upper-limb exoskeleton robot

In this paper, a fuzzy sliding mode controller is used for position tracking of a 5 DOF upper-limb exoskeleton robot. In the proposed controlling method, firstly the control input is designed, using inverse dynamic method. Then, in order to overcome unwanted effects of uncertainties, a sliding PID controller is proposed and the mathematical proofs show that the closed-loop system is asymptotically stable in the presence of this controller. Finally, a T-S fuzzy sliding mode controller is applied to avoid undesirable phenomena of chattering in compare to the classic sliding mode controller. The simulation results confirm the desirable performance of the fuzzy sliding mode controller.