A Self-Adaptive-Coefficient-Double-Power Sliding Mode Control Method for Lower Limb Rehabilitation Exoskeleton Robot

A Self-Adaptive-Coefficient-Double-Power Sliding Mode Control Method for Lower Limb Rehabilitation Exoskeleton Robot

Lower limb rehabilitation exoskeleton robots have the characteristics of nonlinearity and strong coupling, and they are easily disturbed during operation by environmental factors. Thus, an accurate dynamic model of the robot is difficult to obtain, and achieving trajectory tracking control of the ro...

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Bibliographic Details
Main Authors: Yuepeng Zhang, Guangzhong Cao, Wenzhou Li, Jiangcheng Chen, Linglong Li, Dongfeng Diao
Format: article
Language:EN
Published: MDPI AG 2021
Subjects:
lower limb rehabilitation exoskeleton robot
trajectory tracking
estimated dynamic model
sliding mode control
self-adaptive-coefficient-double-power reaching law
Technology
T
Engineering (General). Civil engineering (General)
TA1-2040
Biology (General)
QH301-705.5
Physics
QC1-999
Chemistry
QD1-999
Online Access:https://doaj.org/article/4d4802635d274ec081ec54d95be629a8
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https://doaj.org/article/4d4802635d274ec081ec54d95be629a8

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