Adaptive Neural Network-Based Fixed-Time Tracking Controller for Disabilities Exoskeleton Wheelchair Robotic System
Ayman A. Aly,
Mai The Vu,
Fayez F. M. El-Sousy,
Kuo-Hsien Hsia,
Ahmed Alotaibi,
Ghassan Mousa,
Dac-Nhuong Le,
Saleh Mobayen
Affiliations
Ayman A. Aly
Department of Mechanical Engineering, College of Engineering, Taif University, Taif 21944, Saudi Arabia
Mai The Vu
School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea
Fayez F. M. El-Sousy
Department of Electrical Engineering, Prince Sattam Bin Abdulaziz University, Al Kharj 16278, Saudi Arabia
Kuo-Hsien Hsia
Department of Electrical Engineering, National Yunlin University of Science and Technology, 123 University Road, Douliou 64002, Taiwan
Ahmed Alotaibi
Department of Mechanical Engineering, College of Engineering, Taif University, Taif 21944, Saudi Arabia
Ghassan Mousa
King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia
Dac-Nhuong Le
King Salman Center for Disability Research, Riyadh 11614, Saudi Arabia
Saleh Mobayen
Graduate School of Intelligent Data Science, National Yunlin University of Science and Technology, 123 University Road Section 3, Douliou 640301, Taiwan
In this paper, an adaptive neural network approach is developed based on the integral nonsingular terminal sliding mode control method, with the aim of fixed-time position tracking control of a wheelchair upper-limb exoskeleton robot system under external disturbance. The dynamical equation of the upper-limb exoskeleton robot system is obtained using a free and typical model of the robotic manipulator. Afterward, the position tracking error between the actual and desired values of the upper-limb exoskeleton robot system is defined. Then, the integral nonsingular terminal sliding surface based on tracking error is proposed for fixed-time convergence of the tracking error. Furthermore, the adaptive neural network procedure is proposed to compensate for the external disturbance which exists in the upper-limb exoskeleton robotic system. Finally, to demonstrate the effectiveness of the proposed method, simulation results using MATLAB/Simulink are provided.
