2 papers
cs.RO2025
A Novel Robust Control Method Combining DNN-Based NMPC Approximation and PI Control: Application to Exoskeleton Squat Movements
Alireza Aliyari, Gholamreza Vossoughi
Nonlinear Model Predictive Control (NMPC) is a precise controller, but its heavy computational load often prevents application in robotic systems. Some studies have attempted to ap…
cs.RO2025
Multi-stage robust nonlinear model predictive control of a lower-limb exoskeleton robot
Alireza Aliyari, Gholamreza Vossoughi
The use of exoskeleton robots is increasing due to the rising number of musculoskeletal injuries. However, their effectiveness depends heavily on the design of control systems. Des…