Neuro sliding mode control for exoskeletons with 7 dof

Abstract

In this paper, a novel neuro-sliding-mode controller (SMC) is developed for a 7-degree-of-freedom (DoF) upper exoskeleton. RBF-like neural network control is used to estimate the exoskeleton dynamics in the configuration of the sliding mode control. Stability of the neuro-SMC is derived on the basis of Lyapunov stability criteria. To validate our theoretical claims, simulation results are given at the end of the paper.