A backstepping control design for an active ankle-foot orthosis

Yagiz Savas, Oguzhan Kirtas*, Halil Basturk, Evren Samur

*Kontaktforfatter

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

3 Citationer (Scopus)

Abstract

Active ankle-foot orthoses are used to assist patients suffering from stroke, cerebral palsy etc. through providing them an external force supply to track normal gait cycles. In this paper, we propose a novel backstepping control design for active ankle-foot orthoses to track desired gait trajectories and to reduce the effects of unknown disturbances such as ground reaction force and weight of the foot. The actual system is modeled as two-degree-of-freedom mass-spring system. Disturbances are modeled as a finite sum of sinusoidal signals with unknown amplitudes, frequencies and phases, and an unknown constant. An adaptive backstepping control law is designed for force input to the system. It is proved that the equilibrium of the closed loop system is stable, and vertical position of the patient's heel tracks the desired trajectory. Finally, simulations are performed to show superiority of the proposed control design over a PID control.

OriginalsprogEngelsk
Titel2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Antal sider6
ForlagIEEE Signal Processing Society
Publikationsdato18 jan. 2018
Sider262-267
ISBN (Elektronisk)9781509028733
DOI
StatusUdgivet - 18 jan. 2018
Begivenhed56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australien
Varighed: 12 dec. 201715 dec. 2017

Konference

Konference56th IEEE Annual Conference on Decision and Control, CDC 2017
Land/OmrådeAustralien
ByMelbourne
Periode12/12/201715/12/2017
SponsorANCA Motion, City of Melbourne, MathWorks, The University of Melbourne, The University of Newcastle, United Technologies Research Center (UTRC)
Navn2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017
Vol/bind2018-January

Fingeraftryk

Dyk ned i forskningsemnerne om 'A backstepping control design for an active ankle-foot orthosis'. Sammen danner de et unikt fingeraftryk.

Citationsformater