This paper introduces Fractional Order Sliding Mode Control (FOSMC) as a novel approach for controlling lower limb exoskeletons in gait rehabilitation. The proposed FOSMC algorithm leverages the fractional calculus concept to achieve precise control over the exoskeleton’s joint movements. By incorporating fractional order dynamics, the controller can better capture the non-linearities and uncertainties inherent in the human gait cycle. This results in improved tracking accuracy, reduced energy consumption, and enhanced patient comfort during rehabilitation exercises. Furthermore, the Lyapunov theory has been applied to guarantee the stability of the closed-loop system. The performance of the proposed control approach are evaluated through simulation example.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Trajectory Tracking of Lower Limb Exoskeletons using Fractional Order Sliding Mode Control


    Beteiligte:
    Znidi, Aicha (Autor:in) / Nouri, Ahmed Said (Autor:in) / Derbel, Nabil (Autor:in)


    Erscheinungsdatum :

    2023-11-02


    Format / Umfang :

    1165921 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Exoskeletons Control via Computed Torque for Lower Limb Rehabilitation

    Jribi, Racem / Maalej, Boutheina / Derbel, Nabil | Springer Verlag | 2020


    An Adjustable Compliant Joint for Lower-Limb Exoskeletons

    Cestari Soto, Manuel / Sanz Merodio, Daniel / Arévalo, Juan Carlos et al. | BASE | 2015

    Freier Zugriff

    Performance Evaluation of Lower Limb Exoskeletons: A Systematic Review

    Pinto-Fernandez, D. / Torricelli, Diego / Sanchez-Villamanan, Maria del Carmen et al. | BASE | 2020

    Freier Zugriff

    Piecewise Trajectory and Angle Constraint-Based Fractional-Order Sliding Mode Control

    Fan, Junfang / Chen, Shiwei / Wang, Wei et al. | IEEE | 2023