scholarly journals Design of RBFNN-Based Adaptive Sliding Mode Control Strategy for Active Rehabilitation Robot

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 155538-155547
Author(s):  
Peng Zhang ◽  
Junxia Zhang ◽  
Zunhao Zhang
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Rehabilitation Robot ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Active Rehabilitation

scholarly journals Adaptive sliding mode control of a novel cable driven robot model

2019 ◽  
Vol 13 (2) ◽  
pp. 5150-5162
Author(s):  
F. Inel ◽  
S. Babesse
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Parallel Robot ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Robot Performance ◽  
Point To Point

In this paper, we propose an adaptive sliding mode control strategy for a 3D cable-driven parallel robot. The proposed control technique is widely used for dealing with nonlinear systems uncertainties and for improving the robot performance in terms of tracking a desired path. The main contribution of this work is firstly: the graphical user interface (GUI) witch presents a point-to-point command, thus by the visualization of the end-effector position. Secondly, the sliding mode control is modeling for applied to the dynamic model for different trajectories in order to test the accurate tracking of the robot to a desired path. The effectiveness of the proposed control strategy is demonstrated through different simulation results.

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