Model-Free Adaptive Sliding Mode Robust Control with Neural Network Estimator for the Multi-Degree-of-Freedom Robotic Exoskeleton
Joint Authors
Chen, Xiangjian
Chen, Xiangjian
Li, Di
Wang, Pingxin
Yang, Xibei
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-03-17
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
A new model-free adaptive robust control method has been proposed for the robotic exoskeleton, and the proposed control scheme depends only on the input and output data, which is different from model-based control algorithms that require exact dynamic model knowledge of the robotic exoskeleton.
The dependence of the control algorithm on the prior knowledge of the robotic exoskeleton dynamics model is reduced, and the influence of the system uncertainties are compensated by using the model-free adaptive sliding mode controller based on data-driven methodology and neural network estimator, which improves the robustness of the system.
Finally, real-time experimental results show that the control scheme proposed in this paper achieves better control performances with good robustness with respect to system uncertainties and external wind disturbances compared with the model-free adaptive control scheme and model-free sliding mode adaptive control scheme.
American Psychological Association (APA)
Chen, Xiangjian& Li, Di& Wang, Pingxin& Yang, Xibei& Chen, Xiangjian. 2020. Model-Free Adaptive Sliding Mode Robust Control with Neural Network Estimator for the Multi-Degree-of-Freedom Robotic Exoskeleton. Complexity،Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1144230
Modern Language Association (MLA)
Chen, Xiangjian…[et al.]. Model-Free Adaptive Sliding Mode Robust Control with Neural Network Estimator for the Multi-Degree-of-Freedom Robotic Exoskeleton. Complexity No. 2020 (2020), pp.1-10.
https://search.emarefa.net/detail/BIM-1144230
American Medical Association (AMA)
Chen, Xiangjian& Li, Di& Wang, Pingxin& Yang, Xibei& Chen, Xiangjian. Model-Free Adaptive Sliding Mode Robust Control with Neural Network Estimator for the Multi-Degree-of-Freedom Robotic Exoskeleton. Complexity. 2020. Vol. 2020, no. 2020, pp.1-10.
https://search.emarefa.net/detail/BIM-1144230
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1144230