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This paper analyzes cause of control errors for 5 DOF exoskeleton upper-limb rehabilitation robot. Based on the method of typical repetitive control, let multiple improved repetitive control loops with filtering parallel embed into closed-loop of control system in order to eliminate motion error of rehabilitation robot with multi-channel periodic input signal. The simulation results show that the...
Based on motion characteristics of the upper-limb rehabilitation robot in the rehabilitation training, the article proposes to use a new method of repetitive control to restraining joint position error for upper-limb rehabilitation robot control system. First, repetitive motion of joint position regards as a fixed-cycle signal, and then designs a repetitive controller according to motion characteristics...
This paper focuses on designing control system to improve attitude control accuracy in the presence of mass parameter uncertainties and disturbances. The control algorithm based on variable structure control is obtained by Lyapunov stability theory and have the following properties: 1) computational simplicity and tuning on line, 2) high attitude control accuracy in the presence of bounded external...
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