Neuro Sliding Mode Control for Exoskeletons with 7 Dof
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Date
2021
Authors
Guzey, M.
Journal Title
Journal ISSN
Volume Title
Publisher
Springer Science and Business Media Deutschland GmbH info@springer-sbm.com
Open Access Color
GOLD
Green Open Access
No
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No
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Average
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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, Mechanical Engineering, exoskeleton, sliding mode control, Makine Mühendisliği, neural networks, Engineering (General). Civil engineering (General), Exoskeleton;sliding mode control;neural networks, Chemistry, TA1-2040, Elektrik Mühendisliği, QD1-999, Electrical Engineering
Fields of Science
0209 industrial biotechnology, 02 engineering and technology
Citation
WoS Q
N/A
Scopus Q
Q4
OpenCitations Citation Count
N/A
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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