Model-free super-twisting terminal sliding mode controller using sliding mode disturbance observer for n-DOF upper-limb rehabilitation exoskeleton with backlash hysteresis.
Dingxin HeHaoping WangYang TianPublished in: Int. J. Control (2024)
Keyphrases
- model free
- sliding mode
- sliding mode controller
- degrees of freedom
- position control
- control scheme
- control law
- sliding mode control
- external disturbances
- reinforcement learning
- closed loop
- control strategy
- stability analysis
- variable structure
- motion planning
- robot manipulators
- function approximation
- control system
- policy iteration
- pose estimation
- trajectory tracking
- sliding surface
- control method
- temporal difference
- dynamic model
- adaptive control
- pid controller
- fuzzy controller
- adaptive fuzzy
- control theory
- path planning
- neuro fuzzy
- input output
- optimal control
- mathematical model
- support vector regression
- state space