Nonlinear control of a fully actuated robotic hand using high-order sliding mode and feedback linearization...

Area of Science:

• Robotics and Control Systems
• Biomedical Engineering
• Mechatronics

Background:

• Prosthetic devices face complex loading due to user disabilities.
• Existing control methods struggle with system uncertainties and non-linearities.
• Sliding mode control (SMC) is prone to chattering.

Purpose of the Study:

• To introduce a novel High-Order Fully Actuated Sliding Mode Controller (HOFA-SMC).
• To enhance robustness and mitigate chattering in prosthetic hand control.
• To ensure stability and superior performance compared to existing controllers.

Main Methods:

• Development of HOFA-SMC with a proportional-integral (PI) framework.
• Stability analysis using Lyapunov theory for HOFA-SMC and feedback Linearization Controller (FLC).
• Python-based simulation of a 4-finger, 3-thumb DOF prosthetic hand model.

Main Results:

• HOFA-SMC demonstrated rapid trajectory convergence (within 0.2 s).
• The controller exhibited robust performance under varying uncertainty conditions.
• HOFA-SMC outperformed traditional SMC and FLC in trajectory tracking and stability.

Conclusions:

• HOFA-SMC offers significant improvements in prosthetic hand control.
• The proposed controller effectively addresses challenges of uncertainty and non-linearity.
• This advancement enhances the reliability and performance of prosthetic devices.