Controlling Muscle-joint System by Functional Electrical Stimulation Using Combination of PID and Fuzzy Controller

Koohestani, Afsaneh; Moghadam, Elham Ahmadi

doi:10.1016/j.apcbee.2013.08.027

Cited by 2 publications

(1 citation statement)

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“…For example, a nonlinear PID-based controller [5,6] enhances the correction of nonlinear hysteresis phenomena and increases robustness. The Fuzzy PID controllers [7,8] are offered to increase the trajectory tracking performance. The neural network PID controllers [9,10] are trained to provide the optimum value for various set frequencies and load conditions.…”

Section: Introductionmentioning

confidence: 99%

Discrete-Time Backstepping Sliding Mode Control for a 2-DOF PAM-Based Exoskeleton

2023

JST: SSAD

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This study aims to propose a discrete-time backstepping sliding mode control technique (BSMC) for regulating a pneumatic artificial muscle (PAM)-based exoskeleton used in rehabilitating human lower extremities. The PAM system is challenging to control due to its high nonlinearity, parameter uncertainty, and significant delay resulting from using compressed air. A backstepping control method is a recursive approach that systematically designs control laws for nonlinear and complicated systems. This technique ensures stable and robust system control, even in uncertain circumstances. Furthermore, the backstepping controller can handle high-order systems and guarantee high-precision tracking of a desired trajectory. The incorporation of sliding mode control is aimed at enhancing the performance of the robot PAM system by reducing chattering and reaching time. The algorithm employs Lyapunov functions and sliding surfaces to design the control signal for operating the system. The study concludes with experimental scenarios demonstrating the effectiveness of the proposed approach.

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