Robust Control of a 2-DOF Lower Limb Exoskeleton Rehabilitation Robot Using Nonsingular Terminal Sliding Mode.
Zhe SunZhipeng LiYuan ZhouTongxiang LiBo ChenPublished in: ICCA (2022)
Keyphrases
- sliding mode
- robot manipulators
- trajectory tracking
- end effector
- position control
- formation control
- control scheme
- control strategy
- degrees of freedom
- robotic manipulator
- force control
- lower extremity
- stability analysis
- joint space
- sliding mode control
- sliding mode controller
- variable structure
- robotic arm
- control law
- closed loop
- motor learning
- control system
- visual servoing
- control method
- autonomous robots
- dynamic model
- inverse kinematics
- vision system
- path planning
- mobile robot
- control algorithm
- sliding surface
- motion planning
- control theory
- robot control
- optimal control
- robotic systems
- evolutionary algorithm
- joint angles
- neural network
- neural network controller
- multi robot