%0 Journal Article
	%A Sana Bembli and  Nahla Khraief Haddad and  Safya Belghith
	%D 2020
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 165, 2020
	%T Model Free Terminal Sliding Mode with Gravity Compensation: Application to an Exoskeleton-Upper Limb System
	%U https://publications.waset.org/pdf/10011455
	%V 165
	%X 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.
	%P 451 - 457