A hierarchical Lyapunov-based cascade adaptive control scheme for lower-limb exoskeleton.
Xinglong ZhangWei JiangZhizhong LiShengli SongPublished in: Eur. J. Control (2019)
Keyphrases
- control scheme
- closed loop
- position control
- tracking error
- control law
- control strategy
- dynamic model
- control system
- pi control
- predictive control
- controller design
- robot manipulators
- adaptive control
- pid controller
- robotic manipulator
- fault tolerant control
- fuzzy controller
- control loop
- induction motor
- neural network controller
- control algorithm
- real time
- feedback control
- heat exchanger
- degrees of freedom
- lower extremity