Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks

Prescribed Performance Control for the Upper-Limb Exoskeleton System in Passive Rehabilitation Training Tasks

In this study, a model-free adaptive sliding mode control method was developed in combination with the prescribed performance method. On this basis, this study attempted to fulfill the joint position tracking trajectory task for the one-degree of freedom (DOF) upper-limb exoskeleton in passive robot...

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Bibliographic Details
Main Authors: Zhirui Zhao, Jichun Xiao, Hongyun Jia, Hang Zhang, Lina Hao
Format: Article
Language:English
Published: MDPI AG 2021-10-01
Series:Applied Sciences
Subjects:
upper-limb exoskeleton
model-free adaptive control
prescribed performance
passive rehabilitation
Online Access:https://www.mdpi.com/2076-3417/11/21/10174

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