Event-Triggered Sliding Mode Impulsive Control for Lower Limb Rehabilitation Exoskeleton Robot Gait Tracking.
Yang LiuShiguo PengJiajun ZhangKan XieZhuoyi LinWei-Hsin LiaoPublished in: Symmetry (2023)
Keyphrases
- sliding mode
- trajectory tracking
- robot manipulators
- joint angles
- inverse kinematics
- sliding mode control
- stability analysis
- variable structure
- control strategy
- formation control
- control law
- closed loop
- control system
- control method
- degrees of freedom
- biped robot
- control scheme
- dynamic model
- visual servoing
- end effector
- neural network controller
- control theory
- lower extremity
- adaptive control
- real time
- sliding surface
- external disturbances
- joint space
- upper body
- motor learning
- tracking error
- fuzzy control
- chaotic systems
- mobile robot
- noise reduction
- optimal control
- feedback control
- control algorithm
- support vector regression
- nonlinear systems
- adaptive fuzzy
- gait analysis
- mathematical model
- particle filter
- autonomous robots
- legged robots
- motion planning
- adaptive neural