An adaptive Fuzzy-PID control of a lower limb active prosthesis under external perturbations

Abdallah, Wiem; Boucetta, Rahma; Ali, Saloua Bel Hadj

doi:10.1109/ssd.2019.8893227

Cited by 3 publications

(5 citation statements)

References 20 publications

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“…Including controller Equation ( 12) and adaptive gain Equation (13), the overall stability of the system, can be analysed as follows. The Lyapunov function is:…”

Section: Stability Analysismentioning

confidence: 99%

“…The design of the controller needs to consider the precise dynamic model. External interference and various uncertain parameters are often difficult to achieve in the modelling process, so the control effect is not satisfying 13 . Hsia T C S et al., first proposed the time delay estimation (TDE) method, which can estimate and compensate the nonlinear part and various uncertainties of robot dynamics according to the previous state response and control output, thus it has an attractive model‐free nature 14 .…”

Section: Introductionmentioning

confidence: 99%

“…External interference and various uncertain parameters are often difficult to achieve in the modelling process, so the control effect is not satisfying. 13 Hsia T C S et al, first proposed the time delay estimation (TDE) method, which can estimate and compensate the nonlinear part and various uncertainties of robot dynamics according to the previous state response and control output, thus it has an attractive model-free nature. 14 Therefore, TDE has better robustness against external disturbances, modelling errors, parameter changes, and has been widely used.…”

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confidence: 99%

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Model‐free robust adaptive integral sliding mode impedance control of knee–ankle–toe active transfemoral prosthesis

Chen

Geng

et al. 2022

Robotics Computer Surgery

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Background:Wearing appropriate active prosthesis is the guarantee of daily life for amputees. Normally the controller of the traditional active transfemoral prosthesis is designed based on the mathematical model. The modelling error and the external interference will reduce the control accuracy of the system and make the prosthesis unable to operate in the desired trajectory.Methods: Firstly, combined with time delay estimation (TDE), a model-free robust integral sliding mode impedance controller is designed. This method not only suppress the impedance error, but also eliminate the nonlinear relationship and disturbance in the dynamic model. Secondly, an adaptive law is proposed to update the controller gain, which provide stable control effect. Thirdly, the stability of prosthesis closed-loop system is proved by Lyapunov stability theory. Finally, the motor torque is used to drive each joint, and Matlab/Simscape is used to verify the prosthesis control system. Results:From the result of the simulation experiment, the control method has a good tracking effect on each joint. The root mean square error and mean absolute errors of each joint's angle tracking error are 0.6123°, 1.9976°, 0.5574°and 0.2635°, 1.8175°, 0.4796°. Compared with the controller without adaptive gain and impedance control, the control effect is improved, and the plantar pressure of amputees is closer to the sound side. Conclusions:Comparing the results of different controllers, the adaptive integral sliding mode impedance controller with TDE can better track the expected angles of each joint. The gait is more normal. The walking performance of the prosthesis wearers is improved. K E Y W O R D Sactive lower limb prosthesis, adaptive integral sliding mode impedance control, motor execution, time delay estimation (TDE) | INTRODUCTIONWith the continuous development of economy, science and technology, people's living standards keep improving, and the disabled also need higher performance active prostheses to ensure the quality of daily life. Although domestic prosthetic industry has gradually formed, most of the products are passive prostheses, which will lead to asymmetrical gait and consume more energy. 1 Studies have shown that wearing active prostheses can make the gait of disabled people more comfortable. 2,3 It also increases their ability to walk steadily on various terrains. 4,5 Most common transfemoral prostheses only have knee and ankle joints, while toe joint is usually ignored, and the feet

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“…Including controller Equation ( 12) and adaptive gain Equation (13), the overall stability of the system, can be analysed as follows. The Lyapunov function is:…”

Section: Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Model‐free robust adaptive integral sliding mode impedance control of knee–ankle–toe active transfemoral prosthesis

Chen

Geng

et al. 2022

Robotics Computer Surgery

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“…Ankle amputations are the most frequent kind of amputations. This fact has spurred the development of prosthetic devices, which are vital for those who have undergone lower limb amputations to achieve everyday mobility and a better quality of life [2]. A wide range of ankle prosthetics have been developed to help amputees below the ankle regain or improve their walking.…”

Section: Introductionmentioning

confidence: 99%

“…Controllers developed in perfect lab environments seem ineffective and unable to handle obstacles and difficulties like disruptions, uneven surfaces, and different gait modes in everyday human gait. Researchers have spent the last few decades developing controllers that mimic how a person would interact with their surroundings while wearing a healthy limb [2]. The ankle joint's major job is to provide enough energy support for the body to move forward [6].…”

Section: Introductionmentioning

confidence: 99%

Development of Powered Semi-Active Ankle-Foot Prosthetic with Fuzzy Logic-PI Controller

Ibrahim

2023

JES. Journal of Engineering Sciences

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One of the most difficult issues in the design of power ankle-foot prosthetics is to create a control system that can simulate biological ankle-foot behavior in various operating conditions. The mechanical design of a novel PSAAP is studied. The powered semi-active anklefoot prosthetic is a complex nonlinear system with high coupling. For powered ankle prostheses, a fuzzy logic-proportional-integral (FLC-PI) controller is presented. In the initial stage of control, two proportional-integral (PI) controllers are designed to regulate motor speed and current, respectively. In the next stage of control, two FLC-PI controllers are designed. The PI controller's gains are intended to be adjusted online by the fuzzy logic controller. FLC-PI controllers are used to control the designated model under these external disturbances during a typical walking gait cycle. The performance of PI controllers and FLC-PI controllers are compared during the walking gait cycle. The results reveal that a powered semi-active ankle-foot prosthetic with a fuzzy logic-PI controller method outperforms a PI controller alone.

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Predicting triplanar and bidirectional movements for a transtibial prosthesis for rehabilitation using intelligent neural networks

de la Cruz-Alejo,

Lobato-Cadena,

Arce-Vázquez

et al. 2024

Neural Comput & Applic

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An adaptive Fuzzy-PID control of a lower limb active prosthesis under external perturbations

Cited by 3 publications

References 20 publications

Model‐free robust adaptive integral sliding mode impedance control of knee–ankle–toe active transfemoral prosthesis

Model‐free robust adaptive integral sliding mode impedance control of knee–ankle–toe active transfemoral prosthesis

Development of Powered Semi-Active Ankle-Foot Prosthetic with Fuzzy Logic-PI Controller

Predicting triplanar and bidirectional movements for a transtibial prosthesis for rehabilitation using intelligent neural networks

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