Underactuated robotics: a review
Underactuated robotics is an emerging research direction in the field of robotics. The control
input of the underactuated robot is less than the degree of freedom of the system. It has the …
input of the underactuated robot is less than the degree of freedom of the system. It has the …
Balance and stability issues in lower extremity exoskeletons: A systematic review
MF Hamza, RAR Ghazilla, BB Muhammad… - Biocybernetics and …, 2020 - Elsevier
The lower extremity exoskeletons (LEE) are used as an assistive device for disabled people,
rehabilitation for paraplegic, and power augmentation for military or industrial workers. In all …
rehabilitation for paraplegic, and power augmentation for military or industrial workers. In all …
Distributed Nash equilibrium seeking for general networked games with bounded disturbances
M Ye, D Li, QL Han, L Ding - IEEE/CAA Journal of Automatica …, 2022 - ieeexplore.ieee.org
This paper is concerned with anti-disturbance Nash equilibrium seeking for games with
partial information. First, reduced-order disturbance observer-based algorithms are …
partial information. First, reduced-order disturbance observer-based algorithms are …
High-order disturbance-observer-based sliding mode control for mobile wheeled inverted pendulum systems
J Huang, M Zhang, S Ri, C ** sliding mode controller for an assistant human knee exoskeleton based on nonlinear disturbance observer
M Khamar, M Edrisi - Mechatronics, 2018 - Elsevier
In present study, a knee exoskeleton was designed to assist human movements in the
flexion/extension of the knee. Moreover, a control method was proposed for the exoskeleton …
flexion/extension of the knee. Moreover, a control method was proposed for the exoskeleton …
Model-free control using time delay estimation and fractional-order nonsingular fast terminal sliding mode for uncertain lower-limb exoskeleton
S Ahmed, H Wang, Y Tian - Journal of Vibration and Control, 2018 - journals.sagepub.com
A robotic exoskeleton is a nonlinear system, which is subjected to parametric uncertainties
and external disturbances. Due to this reason, it is difficult to obtain the exact model of the …
and external disturbances. Due to this reason, it is difficult to obtain the exact model of the …
Robust optimal control for a class of nonlinear systems with unknown disturbances based on disturbance observer and policy iteration
A robust optimal control method for a class of nonlinear systems with unknown disturbances
is addressed in this paper. In this framework, adaptive dynamic programming (ADP) is …
is addressed in this paper. In this framework, adaptive dynamic programming (ADP) is …
Finite-time compensation control with dead-zone estimation for a rehabilitative walker considering internal disturbance forces
P Sun, R Shan, S Wang, H Chang - ISA transactions, 2024 - Elsevier
This study discusses a finite-time compensation tracking control method for a rehabilitative
training walker. The dynamic model with input dead zone was constructed to describe the …
training walker. The dynamic model with input dead zone was constructed to describe the …
Robust adaptive fractional‐order terminal sliding mode control for lower‐limb exoskeleton
S Ahmed, H Wang, Y Tian - Asian Journal of Control, 2019 - Wiley Online Library
This paper introduces a robust adaptive fractional‐order non‐singular fast terminal sliding
mode control (RFO‐TSM) for a lower‐limb exoskeleton system subject to unknown external …
mode control (RFO‐TSM) for a lower‐limb exoskeleton system subject to unknown external …