Research Article
Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton
Algorithm 2
The process of CMAC neural network. (Notation: the input is sliding surface and the output is the compensation control vector.)
input vector , determine the range of as , , , | initialize CMAC, the range of quantization , storage of association , storage of memory | Input quantization: | , | Hash coding and obtain output of CMAC | for do | , | , | end for | Weight update | for | for do | , | end for | end for | , | , |
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