Fuzzy cerebellar model articulation controller-based adaptive tracking control for load-carrying exoskeleton
Load-carrying exoskeletons need to cope with load variations, outside disturbances, and other uncertainties. This paper proposes an adaptive trajectory tracking control scheme for the load-carrying exoskeleton. The method is mainly composed of a computed torque controller and a fuzzy cerebellar mode...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2020-08-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/0020294020944962 |