A triple-step controller with linear active disturbance rejection control for a lower limb rehabilitation robot.
Huanfeng PengJie ZhouRong SongPublished in: Frontiers Neurorobotics (2022)
Keyphrases
- disturbance rejection
- control system
- closed loop
- walking speed
- pid controller
- limit cycle
- mobile robot
- control law
- trajectory tracking
- control architecture
- motion control
- robot manipulators
- reference trajectory
- force control
- autonomous robots
- motor learning
- robot control
- visual servoing
- model predictive control
- multi robot
- control loop
- real time
- vision system
- path planning
- robotic systems
- robotic manipulator
- humanoid robot
- linear model
- dynamical systems
- motion planning
- artificial neural networks