Disturbance-Estimated Adaptive Backstepping Sliding Mode Control of a Pneumatic Muscles-Driven Ankle Rehabilitation Robot.
Qingsong AiChengxiang ZhuJie ZuoWei MengQuan LiuSheng Quan XieMing YangPublished in: Sensors (2018)
Keyphrases
- sliding mode control
- adaptive fuzzy
- control strategy
- nonlinear systems
- robot manipulators
- adaptive neural
- external disturbances
- control system
- control law
- mobile robot
- control algorithm
- degrees of freedom
- adaptive control
- closed loop
- autonomous robots
- stability analysis
- lower extremity
- neural network
- fuzzy control
- multi robot
- control scheme
- control method
- humanoid robot
- support vector regression
- robotic systems
- fuzzy model
- sliding mode
- trajectory tracking
- mathematical model
- real time
- path planning
- input output