Comparative Between Backstepping and Adaptive Backstepping Control for Controlling Prosthetic Knee
Abstract:The lower limb amputees are increasing day by day. This has led to an increase in research in the field of prosthetic knee. In this work, a prosthetic knee was designed and developed to assist human movements and more quality of life for millions of individuals who have lost lower limbs. The dynamic model and parameter identification of a two degree of freedom (2-DOF) joint prosthetic knee is derived according to the Lagrangian dynamic approach. The two controllers Backstepping and Adaptive Backstepping are ad… Show more
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