[Retracted] Robust LQR-Based Neural-Fuzzy Tracking Control for a Lower Limb Exoskeleton System with Parametric Uncertainties and External Disturbances

Figure 14

Joint tracking error for ERL-SM and RLQR-NF control schemes with the second case of PUEDs. (a) Hip joint. (b) Knee joint. (c) Ankle joint.

(a)

(b)

(c)