Research Article
Force Tracking Control of Lower Extremity Exoskeleton Based on a New Recurrent Neural Network
Table 4
The comparison results with
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| Controller | ARBFNN-FDO-ZNN | ERL-SMC | | | | |
| Maximum tracking error | 23.14 N | 15.4 N | 47.45 N | 33.58 N | Convergence time | 0.054 s | 0.037 s | 0.436 s | 0.389 s |
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