RBFN-Based Adaptive Backstepping Sliding Mode Control of an Upper-Limb Exoskeleton With Dynamic Uncertainties
In recent decades, robot-assisted rehabilitation therapy has been widely researched and proven to be effective in the motor function recovery of disabled individuals. In this paper, an adaptive backstepping sliding mode control approach combined with neural uncertainty observer is developed for uppe...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8840862/ |