@Article{madani:mech:2016,
  author    = {Madani, Tarek and Daachi, Boubaker and Djouani, Karim, D.},
  title     = {Non-singular terminal sliding mode controller: Application to an actuated exoskeleton},
  journal   = {Mechatronics},
  year      = {2016},
  volume    = {33},
  pages     = {136--145},
  month     = {February},
  doi       = {https://doi.org/10.1016/j.mechatronics.2015.10.012},
  url       = {https://www.sciencedirect.com/science/article/pii/S0957415815001737},
  keywords  = {Nonlinear control, Non-singular terminal sliding mode, Finite-time convergenceExoskeleton},
  abstract  = {This paper presents a robust controller of an active orthosis used for rehabilitation purposes. The system is composed of the orthosis worn by the shank and has a complex dynamical model. No prior knowledge is considered on the dynamical model and the flexion/extension movements considered are of sinusoidal form and are generally defined by the doctor. The used non-singular terminal sliding mode technique permits to have a finite time convergence. The experimental results have been conducted online on an appropriate dummy and then on three healthy subjects. A comparison of performances obtained by the proposed approach with those obtained by a conventional controller has also been realized. Several situations have been considered to test the robustness and it has been concluded with the effectiveness of the developed controller.},
  publisher = {Pergamon-Elsevier Science Ltd},
  address   = {The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, England}
}