Disturbance Observer-Based Terminal Sliding Mode Control of a 5-DOF Upper-Limb Exoskeleton Robot

Disturbance Observer-Based Terminal Sliding Mode Control of a 5-DOF Upper-Limb Exoskeleton Robot

In this paper, a finite-time control strategy composed of disturbance observer and sliding mode controller is investigated for five-degree of freedom (5-DOF) upper-limb exoskeleton subject to system uncertainties and external disturbances. First, a new finite-time disturbance observer (FTDO) is cons...

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Bibliographic Details
Main Authors: Peng Yang, Xiao Ma, Jie Wang, Gaowei Zhang, Yan Zhang, Lingling Chen
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Exoskeleton robot
disturbance observer
terminal sliding mode control
Online Access:https://ieeexplore.ieee.org/document/8691756/

Internet

https://ieeexplore.ieee.org/document/8691756/

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