Disturbance Observer-Based Terminal Sliding Mode Control of a 5-DOF Upper-Limb Exoskeleton Robot.
Peng YangXiao MaJie WangGaowei ZhangYan ZhangLingling ChenPublished in: IEEE Access (2019)
Keyphrases
- sliding mode control
- robot manipulators
- position control
- end effector
- external disturbances
- force control
- inverse kinematics
- control scheme
- joint angles
- degrees of freedom
- control strategy
- lower extremity
- robotic manipulator
- adaptive fuzzy
- dynamic model
- path planning
- parallel robot
- sliding mode
- human hand
- mobile robot
- adaptive neural
- closed loop
- robot arm
- motion planning
- pid controller
- support vector regression
- fuzzy neural network
- neural network
- control algorithm
- visual servoing
- pose estimation
- vision system
- denoising