Title

Genetic Algorithm-Based Sliding Mode Control of a Human Arm Model

Document Type

Conference Proceeding

Publication Date

1-1-2022

Publication Title

IFAC-PapersOnLine

Volume

55

Issue

10

First Page

2968

Keywords

Dynamic modeling, genetic algorithm, sliding mode control, human arm

Last Page

2973

Abstract

Spinal cord injured patients cannot move their segments by their intact muscles. A suitable controller can be used to help them move their arm. In this study, the kinematics and dynamics of right-hand movement are modeled considering planar three links. A genetic algorithm-based sliding mode (GASM) controller is designed to move the human arm model for tracking a desired trajectory in the sagittal plane. The GA is used to tune the convergence rate of the sliding mode controller for having an appropriate tracking performance. The summation of errors is considered as a cost function and GA is proposed to find the controller gains to minimize the difference between the outputs of the model and nominal trajectories. To the best of the author's knowledge, it is for the first time that the GA-sliding mode controller has been used for controlling the human hand so as to have a particular movement. Simulation results are evaluated in upward and downward movements of the human arm to affirm the effectiveness of the proposed controller.

DOI

10.1016/j.ifacol.2022.10.183

E-ISSN

24058963

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