A New Fractional-Order Adaptive Sliding-Mode Approach for Fast Finite-Time Control of Human Knee Joint Orthosis with Unknown Dynamic

• Published in: Mathematics (Basel) Vol. 11; no. 21; p. 4511
• Main Authors: Azizi, Aydin, Naderi Soorki, Mojtaba, Vedadi Moghaddam, Tahmineh, Soleimanizadeh, Ali
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.11.2023
• Subjects: Accuracy; Adaptive control; adaptive sliding mode control (ASMC); Care and treatment; Closed loop systems; Closed loops; Control; Control algorithms; Controllers; Design; Dynamical systems; Finite element method; finite-time stability; fractional-order control; Fuzzy logic; Knee; Knee joint; knee joint arthrosis; Methods; Neural networks; Orthopedic equipment and supplies; Orthoses; Rehabilitation; Robots; Sliding mode control; Trajectory control; Iran
• ISSN: 2227-7390; 2227-7390
• DOI: 10.3390/math11214511

This study delves into the implementation of Fast Finite Time Fractional-Order Adaptive Sliding Mode Control (FFOASMC) for knee joint orthosis (KJO) in the presence of undisclosed dynamics. To achieve this, a novel approach introduces a Fractional-Order Sliding Surface (FOSS). In the context of limited knowledge regarding the dynamics of knee joint arthrosis, Fractional-Order Fast Adaptive Sliding Mode Control (FOFASMC) is devised. Its purpose is to ensure both finite-time stability and prompt convergence of the KJO’s state to the desired trajectory. This controller employs adaptive rules to estimate the enigmatic dynamic parameters of KJO. Through the application of the Lyapunov theorem, the attained finite-time stability of the closed loop is demonstrated. Simulation results effectively showcase the viability of these approaches and offer a comparative analysis against conventional integer-order sliding mode controllers.