Vol. 21 No. 1 (2018) Cover Image
Vol. 21 No. 1 (2018)

Published: February 28, 2018

Pages: 51-59

Articles

State Feedback Sliding Mode Controller Design for Human Swing Leg System

Hazem I. Ali 1 Azhar J. Abdulridha 1
1 Control and Systems Eng. Dep. University of Technology, Baghdad, IRAQ
History
  • Received: June 7, 2017
  • Revised: October 18, 2017
  • Accepted: December 18, 2017
  • Available Online: February 10, 2018
DOI

https://doi.org/10.29194/NJES21010051

Abstract

In this paper, the robustness properties of sliding mode control (SMC) which is designed to produce a dynamic output feedback controller to achieve robustness for trajectory tracking of the nonlinear human swing leg system is presented. The human swing leg represents the support of human leg or the humanoid robot leg which is usually modeled as a double pendulum. The thigh and shank of a human leg will respect the pendulum links, hip and knee will connect the upper body to thigh and then shank respectively. The total moments required to move the muscles of thigh and shank are denoted by two external (servomotors) torques applied at the hip and knee joints. The mathematical model of the system is developed. The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.

Keywords

References

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