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.009a.svgz" name="5017381.fig.009a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Hip joint trajectory tracking</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/abb/volume-2016/5017381/figures/5017381.fig.009b.svgz" name="5017381.fig.009b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Knee joint trajectory tracking</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/abb/volume-2016/5017381/figures/5017381.fig.009c.svgz" name="5017381.fig.009c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Hip joint tracking errors</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/abb/volume-2016/5017381/figures/5017381.fig.009d.svgz" name="5017381.fig.009d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Knee joint tracking errors</td></tr></table>

<div>The performance comparisons using four methods in Case Two.</div>

Applied Bionics and Biomechanics

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Figure 9

Figure 9: Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton 