Sliding mode controller for a hybrid lower limb rehabilitation robot with fuzzy adjustment of impedance interaction: A patient cooperation approach.
Babak ImaniFarid NajafiPublished in: J. Syst. Control. Eng. (2023)
Keyphrases
- sliding mode
- sliding mode controller
- robot manipulators
- position control
- control scheme
- human robot interaction
- trajectory tracking
- sliding mode control
- control law
- variable structure
- stability analysis
- mobile robot
- closed loop
- control strategy
- adaptive fuzzy
- inverse kinematics
- robot control
- control system
- fuzzy sets
- fuzzy controller
- path planning
- robotic systems
- fuzzy numbers
- multi robot
- fuzzy clustering
- fuzzy logic
- fuzzy systems
- humanoid robot
- membership functions
- fuzzy rules
- pid controller
- control method
- control algorithm
- image enhancement
- dynamic model
- fuzzy model