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Modeling and exponential reaching law sliding mode control of the lower limb in cycling

Haghpanah, S. A ; Sharif University of Technology | 2022

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  1. Type of Document: Article
  2. DOI: 10.1109/ICCIA54998.2022.9737211
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2022
  4. Abstract:
  5. In this study, a 3-DOF dynamic model is developed for the lower limb in the cycling activity using Lagrangian mechanics. An exponential reaching law sliding mode controller is then applied to the system in order to imitate the joints' real motion. The kinematic data of the joints are obtained through conducting experiments with an ergometer bike. Results show acceptable tracking performance for the control system. The study's outcome can be used by rehabilitation experts in their work. It is also useful for the engineers in designing rehabilitation devices or developing muscular models. © 2022 IEEE
  6. Keywords:
  7. Cycling ; Dynamic Model ; Dynamic models ; Exponential functions ; Joints (anatomy) ; Dynamics models ; Exponential reaching law ; Kinematic data ; Lagrangian mechanics ; Lower limb ; Real motion ; Sliding mode controller ; Sliding-mode control ; Tracking performance ; Sliding mode control
  8. Source: 8th International Conference on Control, Instrumentation and Automation, ICCIA 2022, 2 March 2022 through 3 March 2022 ; 2022 ; 9781665495691 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/9737211