TY - JOUR
T1 - Asymmetric Constrained Control of a Cervical Orthotic Device Based on Barrier Sliding Modes
AU - Mireles, Caridad
AU - Lozano, Alejandro
AU - Ballesteros, Mariana
AU - Cruz-Ortiz, David
AU - Salgado, Ivan
N1 - Publisher Copyright:
© 2022 by the authors.
PY - 2022/10
Y1 - 2022/10
N2 - This work proposes a robust sliding mode controller to enforce the tracking trajectory of a cervical orthotic device subjected to asymmetric box constraints. The convergence analysis employs an asymmetric barrier Lyapunov function (ABLF), whose argument is a restricted sliding surface. The stability analysis demonstrates the finite-time convergence of the states towards the sliding surface and, therefore, the exponential stability of the system trajectories. The controller ensures the fulfillment of the restrictions imposed on the sliding surface and consequently over the states. Numerical simulations exhibit the performance of the proposed controller ensuring restricted movements for flexion and extension of a virtual orthotic cervical device. The restricted movements obey asymmetric constraints according to the therapies proposed by medical specialists.
AB - This work proposes a robust sliding mode controller to enforce the tracking trajectory of a cervical orthotic device subjected to asymmetric box constraints. The convergence analysis employs an asymmetric barrier Lyapunov function (ABLF), whose argument is a restricted sliding surface. The stability analysis demonstrates the finite-time convergence of the states towards the sliding surface and, therefore, the exponential stability of the system trajectories. The controller ensures the fulfillment of the restrictions imposed on the sliding surface and consequently over the states. Numerical simulations exhibit the performance of the proposed controller ensuring restricted movements for flexion and extension of a virtual orthotic cervical device. The restricted movements obey asymmetric constraints according to the therapies proposed by medical specialists.
KW - asymmetric box-type constraints
KW - barrier Lyapunov function
KW - finite-time convergence
KW - first-order sliding modes
UR - http://www.scopus.com/inward/record.url?scp=85140626867&partnerID=8YFLogxK
U2 - 10.3390/app122010286
DO - 10.3390/app122010286
M3 - Artículo
AN - SCOPUS:85140626867
SN - 2076-3417
VL - 12
JO - Applied Sciences (Switzerland)
JF - Applied Sciences (Switzerland)
IS - 20
M1 - 10286
ER -