Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

Algorithm 2

The process of CMAC neural network. (Notation: the input is sliding surface and the output is the compensation control vector.)

input vector  , determine the range of    as  , , ,

initialize CMAC, the range of quantization , storage of association , storage of memory

Input quantization:

,

Hash coding and obtain output of CMAC

 for    do

   ,

   ,

 end for

 Weight update

 for  

   for    do

      ,

   end for

 end for

 ,

 ,