2021
Inverse Optimal Robust Adaptive Controller for Upper Limb Rehabilitation Exoskeletons With Inertia and Load Uncertainties
RA-L 2021
We propose a robust adaptive controller for the safe and accurate trajectory tracking control of upper limb rehabilitation exoskeletons. The proposed controller can adapt to the inertia and load uncertainties, and compensate for their effects. The <inline-formula xmlns:mml="http://www.w3.org/1998/Ma