Please use this identifier to cite or link to this item: https://hdl.handle.net/20.500.14365/959
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dc.contributor.authorAsl, Hamed Jabbari-
dc.contributor.authorNarikiyo, Tatsuo-
dc.contributor.authorKawanishi, Michihiro-
dc.date.accessioned2023-06-16T12:48:07Z-
dc.date.available2023-06-16T12:48:07Z-
dc.date.issued2018-
dc.identifier.issn0924-090X-
dc.identifier.issn1573-269X-
dc.identifier.urihttps://doi.org/10.1007/s11071-018-4348-1-
dc.identifier.urihttps://hdl.handle.net/20.500.14365/959-
dc.description.abstractIn this paper, novel adaptive neural network (NN) controllers with input saturation are presented for n-link robotic exoskeletons. The controllers consist of a state feedback controller and an output feedback controller. Through utilizing auxiliary dynamics, the controllers provide a new framework for input saturated control of these robotic systems which can feature the global stability for state feedback control. To compensate for the unknown dynamics of the system, adaptive schemes based on NNs are exploited. Furthermore, adaptive robust terms are utilized to deal with unknown external disturbances. Stability studies show that the closed-loop system is globally uniformly ultimately bounded (UUB) with the state feedback controller, where the global property of the NN-based controller is achieved exploiting a smooth switching function and a robust control term. Also, the system is semi-globally UUB with the output feedback controller. Effectiveness of the controllers is validated by simulations and experimental tests.en_US
dc.language.isoenen_US
dc.publisherSpringeren_US
dc.relation.ispartofNonlınear Dynamıcsen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectRobotic exoskeletonen_US
dc.subjectNeural networken_US
dc.subjectAdaptive controlen_US
dc.subjectBounded-input controlen_US
dc.subjectNonlinear-Systemsen_US
dc.subjectTracking Controlen_US
dc.subjectFeedback-Controlen_US
dc.subjectLimben_US
dc.subjectManipulatorsen_US
dc.titleAdaptive Neural Network-Based Saturated Control of Robotic Exoskeletonsen_US
dc.typeArticleen_US
dc.identifier.doi10.1007/s11071-018-4348-1-
dc.identifier.scopus2-s2.0-85048585599-
dc.departmentİzmir Ekonomi Üniversitesien_US
dc.authoridKawanishi, Michihiro/0000-0003-4013-1593-
dc.authorwosidKawanishi, Michihiro/T-5912-2017-
dc.authorscopusid56082561300-
dc.authorscopusid7003537601-
dc.authorscopusid55774184600-
dc.identifier.volume94en_US
dc.identifier.issue1en_US
dc.identifier.startpage123en_US
dc.identifier.endpage139en_US
dc.identifier.wosWOS:000445375700007-
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.identifier.scopusqualityQ1-
dc.identifier.wosqualityQ1-
item.openairetypeArticle-
item.grantfulltextreserved-
item.languageiso639-1en-
item.cerifentitytypePublications-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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