An Improved Super-Twisting Sliding Mode for Flexible Upper-Limb Exoskeleton

An Improved Super-Twisting Sliding Mode for Flexible Upper-Limb Exoskeleton

Aiming at the decrease of tracking accuracy caused by nonlinear friction and strong coupling of the flexible upper-limb exoskeleton, an improved super-twisting sliding mode controller (ISTSMC) is proposed. Compared with the conventional super twisted sliding mode controller (STSMC), this method can...

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Bibliographic Details
Main Authors: Saihua Zhang, Xinghua Zhang, Zhenxing Sun
Format: Article
Language:English
Published: MDPI AG 2023-01-01
Series:Actuators
Subjects:
flexible upper limb exoskeleton
nonsmooth term
improved super-twisting sliding mode control
Online Access:https://www.mdpi.com/2076-0825/12/1/32

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