Complexity / 2020 / Article / Fig 5

Research Article

Model-Free Adaptive Sliding Mode Robust Control with Neural Network Estimator for the Multi-Degree-of-Freedom Robotic Exoskeleton

Figure 5

Performance of model-free adaptive sliding model control combined with neural network control of three joints. (a) Tracking performance of y1(k). (b) Tracking performance of y2(k). (c) Tracking performance of y3(k). (d) Control inputs of u1(k), u2(k) and u3(k).
(a)
(b)
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(d)

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