Multivariable Finite-Time Control of 5 DOF Upper-Limb Exoskeleton Based on Linear Extended Observer

Multivariable Finite-Time Control of 5 DOF Upper-Limb Exoskeleton Based on Linear Extended Observer

An output feedback finite-time control strategy for five degree of freedoms (DOF) upper-limb exoskeleton is investigated in this paper. First, a multivariable second-order sliding mode control is proposed to improve the response speed and stability of the exoskeleton system with parameter uncertaint...

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Bibliographic Details
Main Authors: Gaowei Zhang, Peng Yang, Jie Wang, Jianjun Sun
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Upper-limb exoskeleton
finite-time control
sliding mode control
extended state observer
Online Access:https://ieeexplore.ieee.org/document/8425704/

Internet

https://ieeexplore.ieee.org/document/8425704/

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