Tracking human upper-limb movements with sliding mode control type-II fuzzy logic

Mohammad Osman Tokhi; G Alrezage; SK Ali; AR Firdaus

doi:10.1109/MMAR.2016.7575173

Tracking human upper-limb movements with sliding mode control type-II fuzzy logic

Mohammad Osman Tokhi
, G Alrezage
, SK Ali
, AR Firdaus

School of Engineering and Design

Research output: Contribution to conference › Paper › peer-review

2 Citations (Scopus)

Abstract

© 2016 IEEE. A knowledge of human upper-limb structure and its mechanical functions are important for developing an exoskeleton. The Sliding Mode Control with Fuzzy Type-II is proposed to control the movements of the human extremity joints. The Lagrange method is used to model the dynamics system of human upper-limb. The findings demonstrate the effectiveness of the proposed controller in tracking the desired motion and it is also able to eliminate the chattering problem as well as deal with uncertainties.

Original language	English
DOIs	https://doi.org/10.1109/MMAR.2016.7575173
Publication status	Published - 29 Aug 2016
Event	Proceedings of the 21st International Conference on Methods and Models in Automation and Robotics (MMAR) - Duration: 29 Aug 2016 → …

Conference

Conference	Proceedings of the 21st International Conference on Methods and Models in Automation and Robotics (MMAR)
Period	29/08/16 → …

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10.1109/MMAR.2016.7575173Licence: CC BY 4.0

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abstract = "{\textcopyright} 2016 IEEE. A knowledge of human upper-limb structure and its mechanical functions are important for developing an exoskeleton. The Sliding Mode Control with Fuzzy Type-II is proposed to control the movements of the human extremity joints. The Lagrange method is used to model the dynamics system of human upper-limb. The findings demonstrate the effectiveness of the proposed controller in tracking the desired motion and it is also able to eliminate the chattering problem as well as deal with uncertainties.",

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AU - Firdaus, AR

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AB - © 2016 IEEE. A knowledge of human upper-limb structure and its mechanical functions are important for developing an exoskeleton. The Sliding Mode Control with Fuzzy Type-II is proposed to control the movements of the human extremity joints. The Lagrange method is used to model the dynamics system of human upper-limb. The findings demonstrate the effectiveness of the proposed controller in tracking the desired motion and it is also able to eliminate the chattering problem as well as deal with uncertainties.

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ER -

Tracking human upper-limb movements with sliding mode control type-II fuzzy logic

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