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Model-free finite-time robust control using fractional-order ultra-local model and prescribed performance sliding surface for upper-limb rehabilitation exoskeleton

Dingxin He, Haoping Wang, Yang Tian, Xingyu Ma

2024ISA Transactions17 citationsDOI

Topics & Concepts

Control theory (sociology)ExoskeletonController (irrigation)Sliding mode controlEstimatorTrajectoryLyapunov stabilityTracking errorVariable structure controlEngineeringComputer scienceNonlinear systemMathematicsSimulationControl (management)Artificial intelligenceQuantum mechanicsAgronomyBiologyPhysicsStatisticsAstronomyProsthetics and Rehabilitation RoboticsVibration Control and Rheological FluidsAdaptive Control of Nonlinear Systems
Model-free finite-time robust control using fractional-order ultra-local model and prescribed performance sliding surface for upper-limb rehabilitation exoskeleton | Litcius