RBFNN-Based Adaptive Integral Sliding Mode Feedback and Feedforward Control for a Lower Limb Exoskeleton Robot

RBFNN-Based Adaptive Integral Sliding Mode Feedback and Feedforward Control for a Lower Limb Exoskeleton Robot

In this paper, an adaptive trajectory tracking control method combining proportional–integral–derivative (PID) control, Radial Basis Function neural network (RBFNN)-based integral sliding mode control (ISMC), and feedforward control, i.e., the PIDFF-ISMC method, is proposed. The PIDFF-ISMC method ai...

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Bibliographic Details
Main Authors: Ting Yuan, Chi Zhang, Feng Yi, Pingping Lv, Meitong Zhang, Shupei Li
Format: Article
Language:English
Published: MDPI AG 2024-03-01
Series:Electronics
Subjects:
lower limb exoskeleton robot
trajectory tracking
RBF neural network
integral sliding mode control
Online Access:https://www.mdpi.com/2079-9292/13/6/1043

Internet

https://www.mdpi.com/2079-9292/13/6/1043

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