Adaptive Neural Backstepping Control Approach for Tracker Design of Wheelchair Upper-Limb Exoskeleton Robot System

Adaptive Neural Backstepping Control Approach for Tracker Design of Wheelchair Upper-Limb Exoskeleton Robot System

In this study, the desired tracking control of the upper-limb exoskeleton robot system under model uncertainty and external disturbance is investigated. For this reason, an adaptive neural network using a backstepping control strategy is designed. The difference between the actual values of the uppe...

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Bibliographic Details
Main Authors: Ayman A. Aly, Kuo-Hsien Hsia, Fayez F. M. El-Sousy, Saleh Mobayen, Ahmed Alotaibi, Ghassan Mousa, Dac-Nhuong Le
Format: Article
Language:English
Published: MDPI AG 2022-11-01
Series:Mathematics
Subjects:
neural network
adaptive law
backstepping control
external disturbance
wheelchair robot
tracker design
Online Access:https://www.mdpi.com/2227-7390/10/22/4198

Internet

https://www.mdpi.com/2227-7390/10/22/4198

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