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Figure5

From:  Human gait tracking for rehabilitation exoskeleton: adaptive fractional order sliding mode control approach
Human gait tracking for rehabilitation exoskeleton: adaptive fractional order sliding mode control approach

Figure 5. Tracking errors comparison of CSMC, FTSMC, and AFOFTSMC in simulations. (a) errors comparison of the hip joint; (b) errors comparison of the knee joint. CSMC: conventional sliding mode control; FTSMC: fast terminal sliding mode control; AFOFTSMC: adaptive fractional order fast terminal sliding mode controller.

Intelligence & Robotics
ISSN 2770-3541 (Online)
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