Development and Fuzzy Sliding Mode Compensation Control of a Power Assist Lower Extremity Exoskeleton

Authors

  • Xinliang LU Southeast University
  • Fengpo DU School of Mechanical Engineering, Southeast University, Nanjing
  • Xingsong WANG Southeast University
  • Shan JIA Southeast University
  • Fengyu XU Nanjing University of Posts and Telecommunications, Nanjing

DOI:

https://doi.org/10.5755/j01.mech.24.1.14564

Keywords:

exoskeleton, sliding mode, fuzzy control, compensation, robotics,

Abstract

This paper presents a power assist lower extremity exoskeleton and a fuzzy sliding mode compensation controller. First, the mechanical design of this exoskeleton and the control configuration are introduced. Second, the dynamics of lower extremity exoskeleton is analyzed and the sliding mode controller with fuzzy compensation algorithm under uncertainties for exoskeleton joints is proposed. The theoretical proof shows that it is globally stable in the sense of Lyapunov. The experiments indicate that the proposed control scheme is effective; not only it ensures the control accuracy but also is robust to external uncertainties compared with PID control.

DOI: http://dx.doi.org/10.5755/j01.mech.24.1.14564

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Published

2018-02-21

Issue

Section

DESIGN AND OPTIMIZATION OF MECHANICAL SYSTEMS