Performance Analysis of Super Twisting Sliding Mode Controller by ADAMS-MATLAB Co-simulation in Lower Extremity Exoskeleton

摘要

Lower extremity exoskeleton is a kind of wearable robot and is used both in medical and industrial applications for different purposes. In the medical field it is used as a piece of therapeutic equipment and in the industry especially in defense, to carry heavy loads. This paper deals with the analysis of the performance of super twisting sliding mode controller (STSMC) on tracking the motion of the wearer by the lower extremity exoskeleton using automatic dynamic analysis of mechanical systems (ADAMS)-MATLAB co-simulation during walking and step climbing and the results are compared with a conventional PID controller. The model of the lower extremity exoskeleton is developed by solid-works software and the model of the human body is done with ADAMS software. Super twisting sliding mode controller (STSMC) is designed and simulated with Simulink. This paper also aims to develop a mathematical model of the system and analyze the performance of STSMC to control hip, knee, and ankle movements and also to point out the advantages of the ADAMS-MATLAB co-simulation over the conventional methods of modeling and simulation analysis of the controller to control the exoskeleton. Stability analysis of the controller is also done.