Abstract
This paper is devoted to the tracking control problem for a robotic exoskeleton with the model-free adaptive iterative sliding mode control (MFAISMC) approach. Firstly, the dynamical model of exoskeleton is converted into a linear discrete model by compact form dynamic linearisation (CFDL) with iteration method. Then, based on the linear model, an MFAISMC algorithm is proposed to control the system tracking the desired time-varying trajectories, which just depends on the iterative input and output data of each joint of the exoskeleton. It is proved that the convergence of both tracking error and time-varying parameters can be guaranteed with the increasing iterative numbers. Finally, the effectiveness and superiority of the presented method are verified by related simulation results.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
