Orthosis knee robot control by PID fractional order sliding mode controller

Nowadays, different methods are used to help and restore the ability of patients who have knee problems. These methods have a different structure that uses knee pads as part of the process to help patient. The purpose of this article is to control the knee orthosis robot for the rehabilitation of patients elderly and disabled people with the purpose of assisting in daily tasks such as standing, sitting and climbing stairs. The knee orthosis robot is a mechatronic wearable device that has been studied in this article. In this study, the control of knee orthosis robot is performed by PID fractional sliding mode. Moreover, it is tried to investigate the stability, reduction of system errors and buzz phenomenon in the presence of external perturbation and uncertainties. The Lyapunov function is used to prove the stability of the knee orthosis robot. Simulation results confirm the accuracy of fractional PID sliding mode controller tracing.

کلیدواژه ها:

Knee robot ، rehabilitation ، PID controller ، fractional sliding controller ، sliding mode