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ORIGINAL RESEARCH article
Front. Robot. AI
Sec. Robot Design
Volume 12 - 2025 |
doi: 10.3389/frobt.2025.1534040
This article is part of the Research Topic Wearables for Human-Robot Interaction & Collaboration View all articles
Sliding-Mode Control based on Prescribed Performance Function and Its Application to A SEA-Based Lower Limb Exoskeleton
Provisionally accepted
Feilong Zhang 1,2* Tian Wang 3* Liang Zhang 4*
Enming Shi 1,2
Chengchao Wang 1,2
Ning Li 1 Yu Lu 4*
Bi Zhang 1- 1 State Key Laboratory of Robotics, Shenyang Institute of Automation (CAS), Shenyang, China
- 2 University of Chinese Academy of Sciences, Beijing, Beijing, China
- 3 Fourth Affiliated Hospital of China Medical University, Shenyang, Liaoning Province, China
- 4 Department of Rehabilitation Medicine, The People's Hospital of Liaoning Province, Shenyang, Liaoning Province, China
A sliding-mode control based on a prescribed performance function is proposed for discrete-time single-input single-output systems. The controller design aims to maintain the tracking error in a predefined convergence zone described by a performance function. However, due to the fixed structure of the controller, the applicability and universality of this method are limited. To address this issue, we separate the controller into two parts and analyze the principle of the prescribed performance control (PPC) method. Then we can replace the linear part of the controller with model-based control methods to adapt to the specific characteristics of the controlled system. Compared with current works, when the established system model is inaccurate, we can enhance the smoothness or response speed of the system by introducing a penalty constant to alter the system's transient characteristics while the tracking error is within the prescribed domain. Finally, numerical comparison simulations and a lower limb exoskeleton experiment illustrate the established results and the effectiveness of the proposed method.
Keywords: prescribed performance, Sliding-mode control, predefined convergence zone, Lower limb exoskeleton, Transient characteristics
Received: 25 Nov 2024; Accepted: 06 Feb 2025.
Copyright: © 2025 Zhang, Wang, Zhang, Shi, Wang, Li, Lu and Zhang. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence:
Feilong Zhang, State Key Laboratory of Robotics, Shenyang Institute of Automation (CAS), Shenyang, China
Tian Wang, Fourth Affiliated Hospital of China Medical University, Shenyang, Liaoning Province, China
Liang Zhang, Department of Rehabilitation Medicine, The People's Hospital of Liaoning Province, Shenyang, Liaoning Province, China
Yu Lu, Department of Rehabilitation Medicine, The People's Hospital of Liaoning Province, Shenyang, Liaoning Province, China
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