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

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