PD Controller of a Lower Limb Exoskeleton Robot Based on Sliding Mode RBF Neural Network.
Aihui WangWei LiJun YuPublished in: ICMTEL (1) (2021)
Keyphrases
- rbf neural network
- sliding mode
- robot manipulators
- pid controller
- trajectory tracking
- variable structure
- radial basis function
- sliding mode control
- stability analysis
- control strategy
- fault diagnosis
- data fusion
- rbf network
- control scheme
- neural network model
- control law
- bp neural network
- mobile robot
- hidden layer
- rbfnn
- fuzzy clustering
- neural network
- dynamic model
- control method
- closed loop
- radial basis function neural network
- artificial neural networks
- control algorithm
- adaptive control
- degrees of freedom
- support vector machine
- adaptive fuzzy
- learning algorithm
- fuzzy control
- fuzzy c means
- nonlinear systems
- control system
- expert systems