EXPERIMENTAL IMPLEMENTATIONS OF ADAPTIVE SELF-ORGANIZING FUZZY SLIDING MODE CONTROL TO 3-DOF REHABILITATION ROBOT

Since the 3-DOF rehabilitation robot actuated by pneumatic muscle actuators (PMAs) has highly nonlinear and time-varying behavior due to gas compression and nonlinear elasticity of bladder containers, it is difficult to establish an accurate model for designing a model-based controller. Here, this study proposes a novel adaptive self-organizing fuzzy sliding mode control (ASOFSMC) to improve Control performance. First, the Jazzy sliding surface is established to reduce the number of fuzzy rules. The self-organizing learning mechanism is then employed to modify on-line fuzzy rules, and the the model-matching technique is adopted to adjust the scaling factors without the need for trial-and-error. Finally, the stability of the proposed ASOFSMC is proved by using the Lyapunov theory. E.,experimental results further verify the effectiveness of the ASOFSMC in various commands for a 3-DOF rehabilitation robot.