Optimal Sliding Mode Controller for Knee Flexion During Walking

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for Knee Flexion During Walking</title> <meta name="description" content="Optimal Sliding Mode Controller for Knee Flexion During Walking"> <meta name="keywords" content="Optimal control, multi-objective optimization, sliding mode control, wearable knee exoskeletons."> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <meta name="citation_title" content="Optimal Sliding Mode Controller for Knee Flexion During Walking"> <meta name="citation_author" content="Gabriel Sitler"> <meta name="citation_author" content="Yousef Sardahi"> <meta name="citation_author" content="Asad Salem"> <meta name="citation_publication_date" content="2024/01/09"> <meta name="citation_journal_title" content="International Journal of Mechanical and Mechatronics Engineering"> <meta name="citation_volume" content="18"> <meta name="citation_issue" content="1"> <meta name="citation_firstpage" content="9"> <meta 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href="https://publications.waset.org/search?q=Yousef%20Sardahi"> Yousef Sardahi</a>, <a href="https://publications.waset.org/search?q=Asad%20Salem"> Asad Salem</a> </p> <p class="card-text"><strong>Abstract:</strong></p> <p>This paper presents an optimal and robust sliding mode controller (SMC) to regulate the position of the knee joint angle for patients suffering from knee injuries. The controller imitates the role of active orthoses that produce the joint torques required to overcome gravity and loading forces and regain natural human movements. To this end, a mathematical model of the shank, the lower part of the leg, is derived first and then used for the control system design and computer simulations. The design of the controller is carried out in optimal and multi-objective settings. Four objectives are considered: minimization of the control effort and tracking error; and maximization of the control signal smoothness and closed-loop system’s speed of response. Optimal solutions in terms of the Pareto set and its image, the Pareto front, are obtained. The results show that there are trade-offs among the design objectives and many optimal solutions from which the decision-maker can choose to implement. Also, computer simulations conducted at different points from the Pareto set and assuming knee squat movement demonstrate competing relationships among the design goals. In addition, the proposed control algorithm shows robustness in tracking a standard gait signal when accounting for uncertainty in the shank’s parameters.</p> <iframe src="https://publications.waset.org/10013451.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/search?q=Optimal%20control" title="Optimal control">Optimal control</a>, <a href="https://publications.waset.org/search?q=multi-objective%20optimization" title=" multi-objective optimization"> multi-objective optimization</a>, <a href="https://publications.waset.org/search?q=sliding%0D%0Amode%20control" title=" sliding mode control"> sliding mode control</a>, <a href="https://publications.waset.org/search?q=wearable%20knee%20exoskeletons." title=" wearable knee exoskeletons."> wearable knee exoskeletons.</a> </p> <a href="https://publications.waset.org/10013451/optimal-sliding-mode-controller-for-knee-flexion-during-walking" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/10013451/apa" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">APA</a> <a href="https://publications.waset.org/10013451/bibtex" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">BibTeX</a> <a href="https://publications.waset.org/10013451/chicago" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Chicago</a> <a href="https://publications.waset.org/10013451/endnote" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">EndNote</a> <a href="https://publications.waset.org/10013451/harvard" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">Harvard</a> <a href="https://publications.waset.org/10013451/json" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">JSON</a> <a href="https://publications.waset.org/10013451/mla" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">MLA</a> <a href="https://publications.waset.org/10013451/ris" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">RIS</a> <a href="https://publications.waset.org/10013451/xml" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">XML</a> <a href="https://publications.waset.org/10013451/iso690" target="_blank" rel="nofollow" class="btn btn-primary btn-sm">ISO 690</a> <a href="https://publications.waset.org/10013451.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">181</span> </span> <p class="card-text"><strong>References:</strong></p> <br>[1] P. K. Sancheti, M. Razi, E. B. Ramanathan, and P. S.-H. Yung, “Injuries around the knee – symposium,” British Journal of Sports Medicine, vol. 44, pp. i1 – i1, 2010. <br>[2] D. Miranda-Linares, G. Alrezage, and M. Tokhi, “Control of lower limb exoskeleton for elderly assistance on basic mobility tasks,” in 2015 19th International Conference on System Theory, Control and Computing (ICSTCC). IEEE, 2015, pp. 441–446. <br>[3] A. Chevalier, C. M. Ionescu, and R. De Keyser, “Model-based vs auto-tuning design of pid controller for knee flexion during gait,” in 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC). IEEE, 2014, pp. 3878–3883. <br>[4] W. Huo, S. Mohammed, and Y. Amirat, “Impedance reduction control of a knee joint human-exoskeleton system,” IEEE Transactions on Control Systems Technology, vol. 27, no. 6, pp. 2541–2556, 2018. <br>[5] K. Seo, K. Kim, Y. J. Park, J.-K. Cho, J. Lee, B. Choi, B. Lim, Y. Lee, and Y. 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American Society of Mechanical Engineers, 2018, pp. V003T40A006–V003T40A006. <br>[15] B. Gadhvi, V. Savsani, and V. Patel, “Multi-objective optimization of vehicle passive suspension system using NSGA-II, SPEA2 and PESA-II,” Procedia Technology, vol. 23, pp. 361–368, 2016. <br>[16] M. Ashmi, M. Anila, and K. Sivanandan, “Comparison of SMC and PID controllers for pneumatically powered knee orthosis,” Journal of Control, Automation and Electrical Systems, vol. 32, no. 5, pp. 1153–1163, 2021. <br>[17] J. Cao, S. Q. Xie, and R. Das, “Mimo sliding mode controller for gait exoskeleton driven by pneumatic muscles,” IEEE Transactions on Control Systems Technology, vol. 26, no. 1, pp. 274–281, 2017. <br>[18] X. Xu, Y. Sardahi, and A. Boker, “Multi-objective optimal design of a PID sliding mode controller with three different reaching laws,” in Dynamic Systems and Control Conference, vol. 59155. American Society of Mechanical Engineers, 2019, p. V002T25A002. <br>[19] B. Janardhanan and S. 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Sardahi, “Optimal PI-fuzzy logic controller of glucose concentration using genetic algorithm,” International Journal of Knowledge-based and Intelligent Engineering Systems, vol. 15, no. 2, pp. 99–117, 2011. </div> </div> </div> </main> <footer> <div id="infolinks" class="pt-3 pb-2"> <div class="container"> <div style="background-color:#f5f5f5;" class="p-3"> <div class="row"> <div class="col-md-2"> <ul class="list-unstyled"> About <li><a href="https://waset.org/page/support">About Us</a></li> <li><a href="https://waset.org/page/support#legal-information">Legal</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/WASET-16th-foundational-anniversary.pdf">WASET celebrates its 16th foundational anniversary</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Account <li><a href="https://waset.org/profile">My Account</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Explore <li><a href="https://waset.org/disciplines">Disciplines</a></li> <li><a href="https://waset.org/conferences">Conferences</a></li> <li><a href="https://waset.org/conference-programs">Conference Program</a></li> <li><a href="https://waset.org/committees">Committees</a></li> <li><a href="https://publications.waset.org">Publications</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Research <li><a href="https://publications.waset.org/abstracts">Abstracts</a></li> <li><a href="https://publications.waset.org">Periodicals</a></li> <li><a href="https://publications.waset.org/archive">Archive</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Open Science <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Philosophy.pdf">Open Science Philosophy</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Science-Award.pdf">Open Science Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Open-Society-Open-Science-and-Open-Innovation.pdf">Open Innovation</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Postdoctoral-Fellowship-Award.pdf">Postdoctoral Fellowship Award</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/Scholarly-Research-Review.pdf">Scholarly Research Review</a></li> </ul> </div> <div class="col-md-2"> <ul class="list-unstyled"> Support <li><a href="https://waset.org/page/support">Support</a></li> <li><a href="https://waset.org/profile/messages/create">Contact Us</a></li> <li><a href="https://waset.org/profile/messages/create">Report Abuse</a></li> </ul> </div> </div> </div> </div> </div> <div class="container text-center"> <hr style="margin-top:0;margin-bottom:.3rem;"> <a href="https://creativecommons.org/licenses/by/4.0/" target="_blank" class="text-muted small">Creative Commons Attribution 4.0 International License</a> <div id="copy" class="mt-2">© 2024 World Academy of Science, Engineering and Technology</div> </div> </footer> <a href="javascript:" id="return-to-top"><i class="fas fa-arrow-up"></i></a> <div class="modal" id="modal-template"> <div class="modal-dialog"> <div class="modal-content"> <div class="row m-0 mt-1"> <div class="col-md-12"> <button type="button" class="close" data-dismiss="modal" aria-label="Close"><span aria-hidden="true">×</span></button> </div> </div> <div class="modal-body"></div> </div> </div> </div> <script src="https://cdn.waset.org/static/plugins/jquery-3.3.1.min.js"></script> <script src="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/js/bootstrap.bundle.min.js"></script> <script src="https://cdn.waset.org/static/js/site.js?v=150220211556"></script> <script> jQuery(document).ready(function() { /*jQuery.get("https://publications.waset.org/xhr/user-menu", function (response) { jQuery('#mainNavMenu').append(response); });*/ jQuery.get({ url: "https://publications.waset.org/xhr/user-menu", cache: false }).then(function(response){ jQuery('#mainNavMenu').append(response); }); }); </script> </body> </html>

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Optimal Sliding Mode Controller for Knee Flexion During Walking