Flatness tracking control scheme of rehabilitation exoskeleton robot with dynamic uncertainties.
Soraya BououdenBrahim BrahmiMohammad Habibur RahmanMaarouf SaadPublished in: J. Syst. Control. Eng. (2022)
Keyphrases
- control scheme
- position control
- robot manipulators
- external disturbances
- closed loop
- robotic manipulator
- tracking error
- dynamic model
- control law
- trajectory tracking
- control system
- control strategy
- control loop
- predictive control
- force control
- pid controller
- human arm
- inverse kinematics
- fuzzy controller
- controller design
- sliding mode control
- mobile robot
- dynamic environments
- visual servoing
- autonomous robots
- real time
- induction motor
- neural network
- multi robot
- neural network controller
- lower extremity
- end effector
- radial basis function neural network
- fuzzy logic controller
- optimal control
- path planning
- adaptive fuzzy
- robot control
- humanoid robot
- degrees of freedom
- heat exchanger
- object tracking
- vision system