Robust nonlinear control schemes for finite-time tracking objective of a 5-DOF robotic exoskeleton

DOI10.1080/00207179.2018.1430379zbMath1421.93089OpenAlexW2793192226MaRDI QIDQ5231438

Ali Abooee, Vahid Abootalebi, Fatemeh Sedghi, Mohammad Mehdi Arefi

Publication date: 27 August 2019

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

Full work available at URL: https://doi.org/10.1080/00207179.2018.1430379

zbMATH Keywords

finite-time stabilityreference trajectorysliding manifolds5-DOF upper-limb exoskeleton robotfinite-time robust tracking objective

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Related Items (2)

A fully actuated system approach for stabilization of discrete-time multiple-input nonlinear systems with distinct input delays ⋮ Practical finite-time adaptive sliding mode control for 5-link biped robot in the presence of uncertainty

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