A robust adaptive-fuzzy-proportional-derivative controller for a rehabilitation lower limb exoskeleton

Achieving high performance controller for multi-joints actuators on rehabilitation lower limb exoskeleton (RLLE) is difficult due to its non-linear characteristics. The with less tracking error a key challenge in their controller. Therefore, this paper presents new particle swarm optimization based initialization of model reference adaptive fuzzy logic proportional derivative (Adaptive-FLC-PD), used RLLE passive mode exercise. modelling, which integrates lower-limb coupled direct current motor as joint actuator and patient leg model, was simulated MATLAB. motion realised via trajectory method that imitates therapist-administered manual activity during passively An Adaptive-FLC-PD designed control the drive hip knee exoskeleton. stability analysis has been shown by applied Lyapunov function. compared (FLC) FLC-proportional (FLC-PD) algorithms. numerical ascertained designing, tuning simulating system RLLE.