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Research Article

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

Figure 6

Comparison results with five joints under control (“11”represents MFSMC,“22” represents MFASMCNN). (a) Tracking performance of y1(k). (b) Tracking performance of y2(k). (c) Tracking performance of y3(k). (d) Tracking performance of y4(k). (e) Tracking performance of y5(k). (f) Control inputs of u1(k), u2(k), u3(k), u4(k) and u5(k) with MFSMC. (g) Control inputs of u1(k), u2(k), u3(k), u4(k) and u5(k) with MFASMCNN.
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