Robust Adaptive Fractional‐Order Terminal Sliding Mode Control for Lower‐Limb Exoskeleton

DOI10.1002/asjc.1964zbMath1422.93115OpenAlexW2902877257MaRDI QIDQ5194861

Haoping Wang, Yang Tian, Saim Ahmed

Publication date: 17 September 2019

Published in: Asian Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/asjc.1964

zbMATH Keywords

finite-time convergenceadaptive sliding mode controlfractional-order controlexoskeleton

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Medical applications (general) (92C50) Fractional derivatives and integrals (26A33) Variable structure systems (93B12) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (2)

Robust adaptive fractional fast terminal sliding mode controller for microgyroscope ⋮ A fuzzy neural network-based fractional-order Lyapunov-based robust control strategy for exoskeleton robots: application in upper-limb rehabilitation

Uses Software

• FOMCON

Cites Work

• Fractional terminal sliding mode control design for a class of dynamical systems with uncertainty
• Fractional differential equations. An introduction to fractional derivatives, fractional differential equations, to methods of their solution and some of their applications
• A Novel Sliding Mode Control for a Class of Second-order Mechanical Systems
• Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems
• A fractional adaptation law for sliding mode control
• Continuous Fractional-Order Sliding PI Control for Nonlinear Systems Subject to Non-Differentiable Disturbances
• Fractional Order Controller Design for A Flexible Link Manipulator Robot
• A new terminal sliding mode control for robotic manipulators
• Higher-order sliding modes, differentiation and output-feedback control
• Adaptive Terminal Sliding Mode Control for Motion Tracking of a Micropositioning System

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