Submitted By:Biswajit DebnathM140201EESimulation of a Disturbance Observer based Sliding Mode Control of A Powered Lower Limb Orthosis.

The Shank-Orthosis System

State Space Equations

Objectives

PD ImplementationPD controlleruShank-orthosis systeme

Kp and Kd parameter tuning

Shank-orthosis+PD controller

PID ImplementationPID controlleruShank-orthosis systeme

PID implementation in SIMULINK

Kp, Ki, Kd parameter tuningTime(s)Angular Position(rad)

Tracking after 5% variation in parameters A, B and KTime(s)Angular position(rad)

Knee joint orthosisSMC disturbance observerdBlock DiagramSensoru

Better integration of lower limb with the orthosis.Enhances tracking precision, estimates the external disturbance and extends control bandwidth.Improves upon practical limitation of SMC such as chattering.

Plan of ActionAnalysis of the dynamic model of the Orthosis.Implementing a disturbance observer based sliding mode control.Simulation of the model in matlab/simulink.Analysis of the result obtained.

References

Samer Mohammeda, Weiguang Huoa, Jian Huangb, Hala Rifa a, Yacine Amirat Nonlinear disturbance observer based sliding mode control of a human-driven knee joint orthosis 0921-8890/ 2014 Elsevier B.V.Mefoued, S.; Mohammed, S.; Amirat, Y."Toward Movement Restoration of Knee Joint Using Robust Control of Powered Orthosis," Control Systems Technology, IEEE Transactions on , vol.21, no.6, pp.2156,2168, Nov. 2013.Wen-Hua ChenDisturbance Observer Based Control for Non-linear Systems IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. 9, NO. 4, DECEMBER 2004

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