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资源说明：值得一看的文献A new force tracking control algorithm of partial actuated lower limb exoskeleton suit, which is designed for enhancing human motion is
presented in this paper. Firstly, a mathematical model of the electro-hydraulic servo system was created, and equations for the frictions in the
hydraulic valve and actuator were obtained. Secondly, the appropriate observer based on the estimated functions and the measurement error
equations are presented for the sliding mode control algorithm. Thirdly, a sliding mode controller with applicable surface coefficient has been
designed for force tracking control of the servo system. Fourthly, so as to reduce the error caused by the unchangeable surface of the sliding
mode control, a radial basis functions (RBF) neural network control algorithm has been introduced to offset the disadvantage of the sliding
mode control by moving the sliding surface effectively. Finally, the simulation results under conditions of different frequencies and the trial
results based on the human motion of sliding mode control and the RBF based sliding control are presented, which indicate that RBF based
sliding control provides a better performance than regular sliding mode control.
Keywords: exoskeleton suit, hydraulic servo system, force tracking, sliding mode control, RBF neural network
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