Hybrid Impedance-Sliding Mode Switching Control of the Indego Explorer Lower-Limb Exoskeleton in Able-Bodied Walking.
Curt A. LaubscherAnthony GooRyan J. FarrisJerzy T. SawickiPublished in: J. Intell. Robotic Syst. (2022)
Keyphrases
- sliding mode
- position control
- control scheme
- robot manipulators
- lower extremity
- force control
- control strategy
- sliding mode control
- variable structure
- control system
- control law
- stability analysis
- control strategies
- closed loop
- trajectory tracking
- robotic manipulator
- sliding mode controller
- sliding surface
- dynamic model
- feedback loop
- adaptive control
- control method
- optimal control
- control theory
- nonlinear systems
- fuzzy controller
- control algorithm
- adaptive fuzzy
- dynamical systems
- reinforcement learning