Sliding mode control of electro-hydraulic servo system for lower-limb exoskeleton based on RBF neural network

2015 ◽  
Author(s):  
Zhi Wang ◽  
Shiqiang Zhu ◽  
Qingcheng Chen ◽  
Xuequn Zhang ◽  
Yang Song
Keyword(s):  
Neural Network ◽  
Sliding Mode Control ◽  
Lower Limb ◽  
Sliding Mode ◽  
Rbf Neural Network ◽  
Servo System ◽  
Lower Limb Exoskeleton ◽  
Mode Control ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

Application of the Sliding Mode Control Approach Based on Double Power Exponential Reaching Law for the Hydraulic Servo System

2015 ◽  
Vol 741 ◽  
pp. 655-658 ◽  
Author(s):  
Cai Yun Dong ◽  
Hai Jun Wang ◽  
Wen Yong Cui
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Servo System ◽  
Mathematic Model ◽  
Control Approach ◽  
Reaching Law ◽  
Mode Control ◽  
Hydraulic Servo ◽  
Hydraulic Servo System ◽  
Exponential Reaching Law

The sliding mode control approach based on double power exponential reaching law is proposed for the hydraulic servo system. With the example of the hydraulic servo system in the lab, the mathematic model is established and the new controller is presented and simulated. Simulation results show that: the proposed approach has high track precision, fast response, small chattering and ensures dynamic quality of the system.

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