Figure5
![Human gait tracking for rehabilitation exoskeleton: adaptive fractional order sliding mode control approach](https://image.oaes.cc/7c852705-41a9-49b4-a8ba-8ceee2dd6c23/5547-5.jpg)
Figure 5. Tracking errors comparison of CSMC, FTSMC, and AFOFTSMC in simulations. (a) errors comparison of the hip joint; (b) errors comparison of the knee joint. CSMC: conventional sliding mode control; FTSMC: fast terminal sliding mode control; AFOFTSMC: adaptive fractional order fast terminal sliding mode controller.