abstract
- © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.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).