Robust adaptive super twisting controller: methodology and application of a human-driven knee joint orthosis

The application of the sliding mode control has two obstacle phenomena: chattering and high activity of control action. The purpose of this paper concerns a novel super-twisting adaptive sliding mode control law of a human-driven knee joint orthosis. The proposed control approach consists of using dynamically adapted control gains that ensure the establishment, in a finite time, of a real second-order sliding mode. The efficiency of the controller is evaluated using an experimental set-up.

This study presents the synthesis of a robust super-twisting adaptive controller for the control of a lower limb–orthosis system. The developed control strategy will take into consideration the nonlinearities as well as the uncertainties resulting from the dynamics of the lower limb–orthosis system. It must also guarantee a good follow-up of the reference trajectory.

The authors first evaluated on a valid subject, the performances of this controller which were studied and compared to several criteria. The obtained results show that the controller using the Adaptive Super-Twisting algorithm is the one that guarantees the best performance. Validation tests involved a subject and included robustness tests against external disturbances and co-contractions of antagonistic muscles.

The main contribution of this paper is in developing the adaptation super-twisting methodology for finding the control gain resulting in the minimization of the chattering effect.