Nonlinear disturbance observer based sliding mode control of a cable-driven rehabilitation robot.
Jie NiuQianqian YangGuangtao ChenRong SongPublished in: ICORR (2017)
Keyphrases
- sliding mode control
- external disturbances
- robot manipulators
- adaptive neural
- adaptive fuzzy control
- sliding mode
- adaptive fuzzy
- control scheme
- mobile robot
- variable structure
- control law
- control strategy
- closed loop
- autonomous robots
- dynamic model
- support vector regression
- neural network
- pid controller
- nonlinear systems
- humanoid robot
- trajectory tracking
- real time
- fuzzy neural network
- fuzzy control
- motion planning
- path planning
- control system
- stability analysis
- chaotic systems
- neuro fuzzy