کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

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

نویسندگان :

Seyyed Arash Haghpanah¹ Navid Eqra² Seyyed Ehsan Zolfaghari³ Mojtaba Mahzoon⁴

1- دانشگاه شیراز 2- دانشگاه صنعتی شریف 3- دانشگاه شیراز 4- دانشگاه شیراز

کلمات کلیدی :

Cycling, Dynamic Model, Lower Limb, Sliding Mode Control

چکیده :

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.

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