Gait phase-based smoothed sliding mode control for a rotary series elastic actuator installed on the knee joint.
Joonbum BaeKyoungchul KongMasayoshi TomizukaPublished in: ACC (2010)
Keyphrases
- sliding mode control
- sliding surface
- joint angles
- adaptive fuzzy
- adaptive fuzzy control
- control strategy
- control system
- inverted pendulum
- sliding mode
- robot manipulators
- adaptive neural
- degrees of freedom
- control method
- fuzzy control
- support vector regression
- closed loop
- nonlinear systems
- feedback control
- wastewater treatment plant
- chaotic systems
- fuzzy controller
- control scheme
- dynamic model
- artificial neural networks
- neural network
- intelligent control
- real time