Sliding Mode Control of Upper Limb Rehabilitation Robot Based on Fuzzy Compensation

In order to solve the problem of model nonlinearity and strong external disturbance of rehabilitation robot. This paper presents a sliding mode control algorithm for upper limb rehabilitation robot based on fuzzy compensation. First of all, the upper limb rehabilitation robot dynamics equation modeling is introduced, then, analyses the upper limb rehabilitation robot based on fuzzy compensation the derivation process of the sliding mode control algorithm, and according to the Lyapunov stability criterion, system stability is proved. Finally, the case simulation is carried out on the basis of the existing upper limb rehabilitation robot model, and the simulation results are compared with those of ordinary PD controller. Simulation results show that the control algorithm has better robustness and tracking accuracy when the parameters of the joint robot are uncertain and there are forces and external disturbances imposed by the motion of the patient. The proposed method can meet the training needs of paralyzed patients.