Whale Optimization Algorithm Enhances the Performance of Knee-Exoskeleton System Controlled by SMC

Physiotherapeutic exoskeleton devices have recently been developed to help people rehabilitate impaired limb mobility and replace the use of physiotherapists. Such systems are characterized by high nonlinear time-varying coefficients. In order cope with such difficult control challenges, a need arose for reliable controllers. While in this study Sliding Mode Control (SMC) was used track trajectory knee exoskeleton-system (KES) while having parameter uncertainty. addition, whale optimization algorithm (WOA) introduced adjust thickness design parameters further its performance. The simulation performed on calculator using MATLAB-Simulink program conduct comparative between optimal Classical SMC where results comparison test showed, proposed revealed that positioning inaccuracy increased 31.8807% it follows from result controller could successfully perform tracking well. Also, system created at has better dynamic performance than classical thickness. Index Terms— Optimal, Knee system, Whale approach, mode control.