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This paper presents a novel PIDFF-ISMC control method for lower limb exoskeleton robots, integrating PID control, RBF neural networks, and feedforward control to enhance trajectory tracking performance. The method addresses challenges such as dynamic uncertainties, disturbances, and slow response times while reducing control input chattering. Experimental results demonstrate its effectiveness in improving tracking accuracy and response time across varying speeds.
- Author
- zboyangc
- Language
- EN