A Nonlinear Disturbance Observer Based on Sliding Mode Control for a Lower Limber Exoskeleton Robot.
Wenbo LuoHaokun LiuXishun YangSen ZhangWeimin GePublished in: ACIRS (2022)
Keyphrases
- sliding mode control
- external disturbances
- robot manipulators
- lower extremity
- adaptive neural
- sliding mode
- adaptive fuzzy
- control scheme
- mobile robot
- closed loop
- control strategy
- trajectory tracking
- dynamic model
- support vector regression
- variable structure
- degrees of freedom
- control law
- fuzzy neural network
- real time
- fuzzy control
- motion planning
- nonlinear systems
- multi robot
- feed forward
- path planning
- control method
- simulation study
- mathematical model
- evolutionary algorithm
- artificial neural networks
- genetic algorithm