Fuzzy neural network and observer-based fault-tolerant adaptive nonlinear control of uncertain 5-DOF upper-limb exoskeleton robot for passive rehabilitation

DOI10.1007/S11071-016-3173-7zbMath1384.93094OpenAlexW2547334549MaRDI QIDQ1742041

Kyandoghere Kyamakya, Baraka Olivier Mushage, Jean Chamberlain Chedjou

Publication date: 11 April 2018

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-016-3173-7

zbMATH Keywords

fuzzy neural networkhigh-gain state observeradaptive nonlinear controlactuation faultupper-limb exoskeleton

Mathematics Subject Classification ID

Learning and adaptive systems in artificial intelligence (68T05) Fuzzy control/observation systems (93C42) Neural networks for/in biological studies, artificial life and related topics (92B20) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Related Items (3)

Task-space tracking control of multi-robot systems with disturbances and uncertainties rejection capability ⋮ A fuzzy neural network-based fractional-order Lyapunov-based robust control strategy for exoskeleton robots: application in upper-limb rehabilitation ⋮ Robust nonlinear control schemes for finite-time tracking objective of a 5-DOF robotic exoskeleton

Cites Work

• Adaptive fuzzy output-feedback control for output constrained nonlinear systems in the presence of input saturation
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