Fast-terminal sliding mode control based on dynamic boundary layer for lower limb exoskeleton rehabilitation robot

Aiming at the chattering problem of sliding mode control in the trajectory tracking of lower limb exoskeleton rehabilitation robot (LLERR), this paper proposes a fast-terminal sliding mode control based on dynamic boundary layer (DFTSMC) for LLERR. First, based on the fast-terminal sliding mode surface and the double power reaching law, the compensation term of the control law is designed. Then, a...