Neuro Sliding Mode Control for Exoskeletons with 7 Dof
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Date
2021
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Springer Science and Business Media Deutschland GmbH info@springer-sbm.com
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Abstract
In this paper, a novel neuro-sliding-mode controller (SMC) is developed for a 7-degree-of-freedom (DoF) upper exoskeleton. RBF-like neural network control is used to estimate the exoskeleton dynamics in the configuration of the sliding mode control. Stability of the neuro-SMC is derived on the basis of Lyapunov stability criteria. To validate our theoretical claims, simulation results are given at the end of the paper. © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd 2021.
Description
Keywords
Exoskeleton, Neural Networks, Sliding Mode Control
Fields of Science
Citation
WoS Q
N/A
Scopus Q
Q4
Source
Smart Innovation, Systems and Technologies -- 15th International Conference on Electromechanics and Robotics Zavalishin’s Readings, ERZR 2020 -- 2020-04-15 through 2020-04-18 -- Ufa -- 244719
Volume
187
Issue
Start Page
249
End Page
258
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