A novel nonlinear sliding mode control approach dealing with the formation control of under-
actuated ships is presented in this paper. To avoid the singularity problem, state space of the …

To rehabilitate individuals with impaired upper limb (UL) functions due to neurological
disorders, this research focuses on trajectory tracking control (representing passive …

This paper presents a robust controller of an active orthosis used for rehabilitation purposes.
The system is composed of the orthosis worn by the shank and has a complex dynamical …

This brief deals with a modular controller using a fast terminal sliding mode approach for
articulated systems represented by exoskeletons to perform flexion/extension movements …

In this paper, the problem of trajectory tracking, for an Actuated-Ankle–Foot-Orthosis (AAFO)
to assist the gait of paretic patients, is addressed. The control strategy is based on the …

This article proposes a robust PID adaptive controller for nonlinear systems with one or more
degrees of freedom (DoF). The adaptive controller aims at minimizing the errors in trajectory …

This study delves into the implementation of Fast Finite Time Fractional-Order Adaptive
Sliding Mode Control (FFOASMC) for knee joint orthosis (KJO) in the presence of …

This paper deals with the design of an adaptive observer based both on a Multi-Layer
Perceptron Neural Network (MLPNN) and a sliding mode technique. Its main objective is to …

As the possibility of faults in active suspension actuators are higher and more severe
compared to other components, this study presents a fault-tolerant control approach based …

In this paper we propose an adaptive controller based on sliding mode and backstepping
approaches. The system to be controlled is an exoskeleton used for the rehabilitation of the …