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

ABSTRACT: The increasing adoption of prosthetic devices in medical applications introduces complex and variable load conditions, particularly due to the diverse nature of user disabilities. To address the resulting control challenges, this paper proposes a novel High-Order Fully Actuated Sliding Mode Controller (HOFA-SMC) implemented to enhance robustness under system uncertainties and non-linearities. The proposed controller incorporates a proportional-integral (PI) framework to structure the high-order terms and effectively mitigate the chattering commonly associated with sliding mode control. Stability of both the HOFA-SMC and a feedback Linearization controller (FLC) is established using Lyapunov theory. A detailed simulation study is conducted on a full hand model, comprising four 4-degree-of-f

SUBMITTER: Sarwat A 

PROVIDER: S-EPMC12533922 | biostudies-literature | 2025

REPOSITORIES: biostudies-literature