Decentralized Nonlinear Control of Redundant Upper Limb Exoskeleton with Natural Adaptation Law.

Mahdi Hejrati Jouni Mattila

Published in: CoRR (2022)

Keyphrases

lower extremity
control system
tracking control
degrees of freedom
adaptive neural
real world
joint space
highly nonlinear
cooperative
control method
nonlinear systems
robot control
feedback loop
nonlinear dynamics
robotic systems
distributed systems
artificial neural networks
steady state error
real time