Truong, D.D. and Khanh, N.D. and Van Muon, H. (2023) Sliding Control Algorithm with a Neural Network for Exoskeleton Electric Drive System. In: 4th International Conference on Neural Networks and Neurotechnologies, NeuroNT 2023, Conference Date: 16 June 2023, St. Petersburg.
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The article presents a sliding control algorithm with a neural network to eliminate vague parameters and external disturbances in studying the dynamic modeling for the lower extremities of the exoskeleton. The sliding control is used to achieve rapid convergence over the final time and suppress the disturbance. A neural network appraiser is integrated into the control system for evaluating the parameters and model of the control object. The timid system is able to respond to a change in the external disturbances and the parameters of the dynamic modeling of the exoskeleton. The stability of the proposed regulator and the effectiveness of tracking the control system are established by Lyapunov's theorem of stability. © 2023 IEEE.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Divisions: | Faculties > Faculty of Control Engineering |
| Identification Number: | 10.1109/NeuroNT58640.2023.10175848 |
| Uncontrolled Keywords: | Control system stability; Control theory; Exoskeleton (Robotics), Control objects; Dynamics models; Electric drive system; Exoskeleton; External disturbances; Lower extremity; Neural-networks; Rapid convergence; Regulator; Sliding control, Electric drives |
| Additional Information: | Conference of 4th International Conference on Neural Networks and Neurotechnologies, NeuroNT 2023 ; Conference Date: 16 June 2023; Conference Code:190682 |
| URI: | http://eprints.lqdtu.edu.vn/id/eprint/10875 |
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