Matches in SemOpenAlex for { <https://semopenalex.org/work/W4293100487> ?p ?o ?g. }
Showing items 1 to 79 of
79
with 100 items per page.
- W4293100487 abstract "Abstract In this paper, an impedance iterative learning sliding mode control (IILSMC) scheme for robot-assisted bathing with unknown model parameters is investigated. Firstly, impedance control is not only applied to adjust the desired trajectory, but also implemented to ensure the active compliance control of the robot-assisted bathing. Furthermore, iterative learning control is designed to dynamically estimate the unknown model parameters. To release the identical initial condition of iterative learning control (ILC), the trajectory reconstruction method is proposed, such that the convergence of tracking errors can be guaranteed with random initial status. Moreover, adaptive sliding mode control (SMC) is proposed where non-parametric, external disturbances and the human-machine interaction (HMI) torque generated during the bathing process is suppressed by adaptive method. Based on the composite energy function (CEF) method, the convergence of the double closed-loop system in the time domain and iterative domain is proved. Finally, through co-simulation of MATLAB/Simulink and ADAMS, the effectiveness and superiority of the control strategy proposed in this paper is jointly verified." @default.
- W4293100487 created "2022-08-26" @default.
- W4293100487 creator A5000537352 @default.
- W4293100487 creator A5023062152 @default.
- W4293100487 creator A5036291368 @default.
- W4293100487 creator A5055555962 @default.
- W4293100487 creator A5057318263 @default.
- W4293100487 creator A5060388910 @default.
- W4293100487 creator A5069632856 @default.
- W4293100487 creator A5083259716 @default.
- W4293100487 creator A5089966233 @default.
- W4293100487 creator A5089979249 @default.
- W4293100487 date "2022-03-21" @default.
- W4293100487 modified "2023-09-27" @default.
- W4293100487 title "Impedance Iterative Learning Sliding Mode Control for Robot-Assisted Bathing with Non-repetitive Trajectory" @default.
- W4293100487 doi "https://doi.org/10.21203/rs.3.rs-1353107/v1" @default.
- W4293100487 hasPublicationYear "2022" @default.
- W4293100487 type Work @default.
- W4293100487 citedByCount "0" @default.
- W4293100487 crossrefType "posted-content" @default.
- W4293100487 hasAuthorship W4293100487A5000537352 @default.
- W4293100487 hasAuthorship W4293100487A5023062152 @default.
- W4293100487 hasAuthorship W4293100487A5036291368 @default.
- W4293100487 hasAuthorship W4293100487A5055555962 @default.
- W4293100487 hasAuthorship W4293100487A5057318263 @default.
- W4293100487 hasAuthorship W4293100487A5060388910 @default.
- W4293100487 hasAuthorship W4293100487A5069632856 @default.
- W4293100487 hasAuthorship W4293100487A5083259716 @default.
- W4293100487 hasAuthorship W4293100487A5089966233 @default.
- W4293100487 hasAuthorship W4293100487A5089979249 @default.
- W4293100487 hasBestOaLocation W42931004871 @default.
- W4293100487 hasConcept C117619785 @default.
- W4293100487 hasConcept C121332964 @default.
- W4293100487 hasConcept C1276947 @default.
- W4293100487 hasConcept C13662910 @default.
- W4293100487 hasConcept C144171764 @default.
- W4293100487 hasConcept C154945302 @default.
- W4293100487 hasConcept C162324750 @default.
- W4293100487 hasConcept C183356978 @default.
- W4293100487 hasConcept C2775924081 @default.
- W4293100487 hasConcept C2777303404 @default.
- W4293100487 hasConcept C2777984285 @default.
- W4293100487 hasConcept C41008148 @default.
- W4293100487 hasConcept C47446073 @default.
- W4293100487 hasConcept C50522688 @default.
- W4293100487 hasConcept C90509273 @default.
- W4293100487 hasConcept C97355855 @default.
- W4293100487 hasConceptScore W4293100487C117619785 @default.
- W4293100487 hasConceptScore W4293100487C121332964 @default.
- W4293100487 hasConceptScore W4293100487C1276947 @default.
- W4293100487 hasConceptScore W4293100487C13662910 @default.
- W4293100487 hasConceptScore W4293100487C144171764 @default.
- W4293100487 hasConceptScore W4293100487C154945302 @default.
- W4293100487 hasConceptScore W4293100487C162324750 @default.
- W4293100487 hasConceptScore W4293100487C183356978 @default.
- W4293100487 hasConceptScore W4293100487C2775924081 @default.
- W4293100487 hasConceptScore W4293100487C2777303404 @default.
- W4293100487 hasConceptScore W4293100487C2777984285 @default.
- W4293100487 hasConceptScore W4293100487C41008148 @default.
- W4293100487 hasConceptScore W4293100487C47446073 @default.
- W4293100487 hasConceptScore W4293100487C50522688 @default.
- W4293100487 hasConceptScore W4293100487C90509273 @default.
- W4293100487 hasConceptScore W4293100487C97355855 @default.
- W4293100487 hasLocation W42931004871 @default.
- W4293100487 hasOpenAccess W4293100487 @default.
- W4293100487 hasPrimaryLocation W42931004871 @default.
- W4293100487 hasRelatedWork W1875537681 @default.
- W4293100487 hasRelatedWork W1970995519 @default.
- W4293100487 hasRelatedWork W2038443689 @default.
- W4293100487 hasRelatedWork W2126069929 @default.
- W4293100487 hasRelatedWork W2369543981 @default.
- W4293100487 hasRelatedWork W2390503126 @default.
- W4293100487 hasRelatedWork W2407583558 @default.
- W4293100487 hasRelatedWork W2787503395 @default.
- W4293100487 hasRelatedWork W3148930212 @default.
- W4293100487 hasRelatedWork W4243499909 @default.
- W4293100487 isParatext "false" @default.
- W4293100487 isRetracted "false" @default.
- W4293100487 workType "article" @default.