Table 2 The control parameters in the simulation
From: Neural Network Robust Control Based on Computed Torque for Lower Limb Exoskeleton
Parameter | Description | Value |
|---|---|---|
kp | Proportional gain matrix | diag{900, 900} |
kd | Derivative gain matrix | diag{200, 200} |
c | Center vector of the Gaussian basis function | \(\left[ {\begin{array}{*{20}c} { - 1.5} & { - 1} & { - 0.5} & 0 & {0.5} & {1.0} & {1.5} \\ { - 1.5} & { - 1} & { - 0.5} & 0 & {0.5} & {1.0} & {1.5} \\ \end{array} } \right]\) |
σ | Width of the Gaussian basis function | [0.8, 0.8] |
Q | Positive definite matrix in the Lyapunov equation | diag{3600, 1600} |