Robust Control of a Virtual Back-Assisted Orthosis Under Position Constraints

Alejandro Lozano; Fabricio Torres; Saraí López; Mariana Ballesteros; David Cruz-Ortiz; Isaac Chairez

doi:10.1007/978-3-030-90033-5_8

Robust Control of a Virtual Back-Assisted Orthosis Under Position Constraints

Alejandro Lozano, Fabricio Torres, Saraí López, Mariana Ballesteros, David Cruz-Ortiz, Isaac Chairez

Unidad Profesional Interdisciplinaria de Biotecnología (UPIBI)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, a robust controller based on Barrier Lyapunov functions coupled to sliding modes is tuned in order to control a back orthosis. The controller ensures the tracking error stays in a symmetric bounded region by imposing a barrier to both the angular velocity and acceleration errors with respect to a given trajectory. The performance of the controller to minimize the tracking error given an external disturbance is evaluated by comparing it to other common controller strategies (proportional-derivative and sliding modes).

Original language	English
Title of host publication	Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021
Editors	Héctor A. Moreno, Isela G. Carrera, Ricardo A. Ramírez-Mendoza, José Baca, Ilka A. Banfield
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	63-70
Number of pages	8
ISBN (Print)	9783030900328
DOIs	https://doi.org/10.1007/978-3-030-90033-5_8
State	Published - 2022
Event	3rd Latin American Congress on Automation and Robotics, LACAR 2021 - Virtual, Online Duration: 17 Nov 2021 → 19 Nov 2021

Publication series

Name	Lecture Notes in Networks and Systems
Volume	347 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	3rd Latin American Congress on Automation and Robotics, LACAR 2021
City	Virtual, Online
Period	17/11/21 → 19/11/21

Access to Document

10.1007/978-3-030-90033-5_8

Cite this

Lozano, A., Torres, F., López, S., Ballesteros, M., Cruz-Ortiz, D., & Chairez, I. (2022). Robust Control of a Virtual Back-Assisted Orthosis Under Position Constraints. In H. A. Moreno, I. G. Carrera, R. A. Ramírez-Mendoza, J. Baca, & I. A. Banfield (Eds.), Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021 (pp. 63-70). (Lecture Notes in Networks and Systems; Vol. 347 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-90033-5_8

Lozano, Alejandro ; Torres, Fabricio ; López, Saraí et al. / Robust Control of a Virtual Back-Assisted Orthosis Under Position Constraints. Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. editor / Héctor A. Moreno ; Isela G. Carrera ; Ricardo A. Ramírez-Mendoza ; José Baca ; Ilka A. Banfield. Springer Science and Business Media Deutschland GmbH, 2022. pp. 63-70 (Lecture Notes in Networks and Systems).

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title = "Robust Control of a Virtual Back-Assisted Orthosis Under Position Constraints",

abstract = "In this paper, a robust controller based on Barrier Lyapunov functions coupled to sliding modes is tuned in order to control a back orthosis. The controller ensures the tracking error stays in a symmetric bounded region by imposing a barrier to both the angular velocity and acceleration errors with respect to a given trajectory. The performance of the controller to minimize the tracking error given an external disturbance is evaluated by comparing it to other common controller strategies (proportional-derivative and sliding modes).",

author = "Alejandro Lozano and Fabricio Torres and Sara{\'i} L{\'o}pez and Mariana Ballesteros and David Cruz-Ortiz and Isaac Chairez",

note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 3rd Latin American Congress on Automation and Robotics, LACAR 2021 ; Conference date: 17-11-2021 Through 19-11-2021",

year = "2022",

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Lozano, A, Torres, F, López, S, Ballesteros, M , Cruz-Ortiz, D & Chairez, I 2022, Robust Control of a Virtual Back-Assisted Orthosis Under Position Constraints. in HA Moreno, IG Carrera, RA Ramírez-Mendoza, J Baca & IA Banfield (eds), Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. Lecture Notes in Networks and Systems, vol. 347 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 63-70, 3rd Latin American Congress on Automation and Robotics, LACAR 2021, Virtual, Online, 17/11/21. https://doi.org/10.1007/978-3-030-90033-5_8

Robust Control of a Virtual Back-Assisted Orthosis Under Position Constraints. / Lozano, Alejandro; Torres, Fabricio; López, Saraí et al.
Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. ed. / Héctor A. Moreno; Isela G. Carrera; Ricardo A. Ramírez-Mendoza; José Baca; Ilka A. Banfield. Springer Science and Business Media Deutschland GmbH, 2022. p. 63-70 (Lecture Notes in Networks and Systems; Vol. 347 LNNS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Lozano A, Torres F, López S, Ballesteros M , Cruz-Ortiz D , Chairez I. Robust Control of a Virtual Back-Assisted Orthosis Under Position Constraints. In Moreno HA, Carrera IG, Ramírez-Mendoza RA, Baca J, Banfield IA, editors, Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. Springer Science and Business Media Deutschland GmbH. 2022. p. 63-70. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-030-90033-5_8

Robust Control of a Virtual Back-Assisted Orthosis Under Position Constraints

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