https://www.selleckchem.com/pr....oducts/irak4-in-4.ht
In this article, we develop a robust sliding-mode nonlinear predictive controller for brain-controlled robots with enhanced performance, safety, and robustness. First, the kinematics and dynamics of a mobile robot are built. After that, the proposed controller is developed by cascading a predictive controller and a smooth sliding-mode controller. The predictive controller integrates the human intention tracking with safety guarantee objectives into an optimization problem to minimize the invasion to human intention while maintaining
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