Controlling the Movement Path of Leg Exoskeletons Through Fractional Order Sliding Mode Control

This research introduces a new method, Fractional Order Sliding Mode Control (FOSMC), to manage leg exoskele-tons during gait rehabilitation. This innovative algorithm utilizes fractional calculus principles to precisely regulate the joints of the exoskeleton. By integrating fractional order dynamic...

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Bibliographic Details
Main Authors: Znidi, Aicha, Abdelhedi, Fatma, Nouri, Ahmed Said, Derbel, Nabil
Format: Conference Proceeding
Language:English
Subjects:
Ex-oskeleton for lower limb gait rehabilitation
Exoskeletons
Fractional calculus
Heuristic algorithms
Legged locomotion
Medical services
Sliding mode control
Stability analysis
Tracking
Uncertainty
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Summary:This research introduces a new method, Fractional Order Sliding Mode Control (FOSMC), to manage leg exoskele-tons during gait rehabilitation. This innovative algorithm utilizes fractional calculus principles to precisely regulate the joints of the exoskeleton. By integrating fractional order dynamics, the controller effectively handles the complexities and uncertainties inherent in human walking patterns. This leads to more precise tracking, lower energy usage, and increased comfort for patients during rehabilitation. Additionally, the application of Lyapunov theory ensures the stability of the system. The effectiveness of this control method is assessed through simulation examples in the study.
ISSN:2474-0446
DOI:10.1109/SSD61670.2024.10549441