A hierarchical Lyapunov-based cascade adaptive control scheme for lower-limb exoskeleton.
Xinglong ZhangWei JiangZhizhong LiShengli SongPublished in: CoRR (2019)
Keyphrases
- control scheme
- closed loop
- position control
- control law
- tracking error
- control system
- control strategy
- dynamic model
- adaptive control
- robot manipulators
- control loop
- predictive control
- pi control
- controller design
- fault tolerant control
- robotic manipulator
- pid controller
- feedback controller
- induction motor
- fuzzy controller
- nonlinear systems
- degrees of freedom
- pid control
- force control
- feedback loop
- visual servoing
- adaptive fuzzy
- external disturbances
- real time