Disturbance Observer-Based Fuzzy Control of Uncertain MIMO Mechanical Systems With Input Nonlinearities and its Application to Robotic Exoskeleton


We develop a novel disturbance observer-based adaptive fuzzy control approach in this paper for a class of uncertain multi-input-multi-output mechanical systems possessing unknown input nonlinearities, i.e., deadzone and saturation and time-varying external disturbance. It is shown that the input nonlinearities can be represented by a nominal part and a… (More)
DOI: 10.1109/TCYB.2016.2536149

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