Nonlinear disturbance observer based flexible-boundary prescribed performance control for a lower limb exoskeleton.
Yu WangHaoping WangYang TianPublished in: Int. J. Syst. Sci. (2021)
Keyphrases
- highly nonlinear
- lower extremity
- control system
- control strategy
- external disturbances
- control method
- tracking control
- degrees of freedom
- steady state error
- model predictive control
- neural network
- nonlinear dynamics
- adaptive neural
- robot manipulators
- joint space
- force control
- predictive control
- feedback loop
- control theory
- robot control
- adaptive control
- optimal control
- object boundaries
- computer vision