@article{(Open Science Index):https://publications.waset.org/pdf/10011455,
	  title     = {Model Free Terminal Sliding Mode with Gravity Compensation: Application to an Exoskeleton-Upper Limb System},
	  author    = {Sana Bembli and  Nahla Khraief Haddad and  Safya Belghith},
	  country	= {},
	  institution	= {},
	  abstract     = {This paper deals with a robust model free terminal sliding mode with gravity compensation approach used to control an exoskeleton-upper limb system. The considered system is a 2-DoF robot in interaction with an upper limb used for rehabilitation. The aim of this paper is to control the flexion/extension movement of the shoulder and the elbow joints in presence of matched disturbances. In the first part, we present the exoskeleton-upper limb system modeling. Then, we controlled the considered system by the model free terminal sliding mode with gravity compensation. A stability study is realized. To prove the controller performance, a robustness analysis was needed. Simulation results are provided to confirm the robustness of the gravity compensation combined with to the Model free terminal sliding mode in presence of uncertainties.},
	    journal   = {International Journal of Mechanical and Mechatronics Engineering},
	  volume    = {14},
	  number    = {9},
	  year      = {2020},
	  pages     = {451 - 457},
	  ee        = {https://publications.waset.org/pdf/10011455},
	  url   	= {https://publications.waset.org/vol/165},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 165, 2020},
	}