Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/abb/volume-2016/5017381/figures/5017381.fig.0011a.svgz" name="5017381.fig.0011a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>RSME1 comparison in two cases</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/abb/volume-2016/5017381/figures/5017381.fig.0011b.svgz" name="5017381.fig.0011b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>RSME1 comparison in two cases</td></tr></table>

<div>RSME1 and RSME2 comparisons in two cases. Icon “No-dis” means Case One and “Dis” means Case Two, respectively.</div>

Applied Bionics and Biomechanics

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Figure 11

Figure 11: Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton 