Modeling and Evaluation of Adaptive Super Twisting Sliding Mode Control in Lower Extremity Exoskeleton

Abstract

In this paper, an integrated human-in-the-loop simulation paradigm for the design and performance analysis of a 6 DOF lower extremity exoskeleton is presented. An adaptive Super Twisting Sliding Mode Controller (ASTSMC) is designed for the trajectory tracking control of the exoskeleton by considering the human motion as reference trajectory. The dynamic model, that include linear and rotational displacement of hip, knee and ankle joints of both the legs is developed using Lagrange energy formulation. The position and angular velocity error of the wearer and the exoskeleton are being considered to establish the control law. Super twisting SMC is a robust control scheme that works effectively in the presence of external disturbances and parameter variations. However, the STSMC introduces chattering in the closed loop because of its high gain, to overcome this drawback, an adaptive STSMC is proposed for the control of exoskeleton against unknown disturbances without chattering. An adaptation scheme using Lyapunov criterion is derived that ensures the stability of the system in closed loop. The performance of the proposed control strategy is verified by implementing on the integrated CAD model of the exoskeleton along with the wearer. The effectiveness of the controller is tested under wind disturbance of varying velocity and direction. The results demonstrate improved tracking performance of the proposed control scheme with least error and less control effort compared to constant gain STSMC in normal and uneven terrain.