The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Neural Network Control of a Rehabilitation Robot by State and Output Feedback
Open accessAbstract
In this paper, neural network control is presented for a rehabilitation robot with unknown system dynamics. To deal with the system uncertainties and improve the system robustness, adaptive neural networks are used to approximate the unknown model of the robot and adapt interactions between the robot and the patient. Both full state feedback control and output feedback control are considered in this paper. With the proposed control, uniform ultimate boundedness of the closed loop system is achieved in the context of Lyapunov’s stability theory and its associated techniques. The state of the system is proven to converge to a small neighborhood of zero by appropriately choosing design parameters. Extensive simulations for a rehabilitation robot with constraints are carried out to illustrate the effectiveness of the proposed control.
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Cites
Impedance Control: An Approach to Manipulation: Part I—Theory
Hogan, N. (1985) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3140702 · Cited by 3,673
Cited by
Adaptive Neural Network Control of a Robotic Manipulator With Time-Varying Output Constraints
He, W., Huang, H., & Ge, S. S. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2711961 · Cited by 361
Self-citationCao, S., Sun, L., Jiang, J., & Zuo, Z. (2023) · IEEE Transactions on Neural Networks and Learning Systems · doi:10.1109/tnnls.2021.3116713 · Cited by 221
Hybrid design of PID controller for four DoF lower limb exoskeleton
Amiri, M. S., Ramli, R., & Ibrahim, M. F. (2019) · Applied Mathematical Modelling · doi:10.1016/j.apm.2019.03.002 · Cited by 93
Metadata
- Authors
- He, W., Ge, S. S., Li, Y., Chew, E., & Ng, Y. S.
- Venue
- Journal of Intelligent & Robotic Systems
- Published
- 2014-10-21
- Volume
- 80
- Issue
- 1
- Pages
- 15-31
- ISSN
- 0921-0296 (ISSN-L)
- 1573-0409
- OpenAlex
- W2055478070
- Cited by
- 258
- References
- 1
- FWCI
- 22.70
- Type
- journal article
- Language
- en
- Open access
- green
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- He, W., Ge, S. S., Li, Y., Chew, E., & Ng, Y. S. (2015). Neural Network Control of a Rehabilitation Robot by State and Output Feedback. Journal of Intelligent & Robotic Systems. https://doi.org/10.1007/s10846-014-0150-6
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