Modeling and Design of ANFIS Dynamic Sliding Mode Controller for a Knee Orthosis of Hemiplegia

The use of assistive devices to control the loss strength and range motion hemiplegic patients is becoming common. It difficult develop a precise approach for knee orthosis system because unpredictability dynamics unwanted subject’s spasm, jerk, vibration during gait assistance. In this study, an adaptive neuro-fuzzy inference (ANFIS) based on nonlinear disturbance observer (NDO) dynamic sliding mode controller (DSMC) presented restore natural experiencing mobility disorder as well monitor patient-induced disturbances parameter variations semiactive assistance both stance swing phases. system’s relations are first developed using Euler–Lagrange formation. Using MATLAB/Simulink, model design was created. Lyapunov theory then used ensure asymptotically stable in view proposed once scheme has been designed. scheme’s (ANFIS–NDO–DSMC) tracking performances shown contrasted with conventional (SMC). Furthermore, comparative performance analysis parametric uncertainties look at robustness (ANFIS–NDO–DSMC). coefficient determination ( R 2 ) root mean square error (RMSE) between reference angle ANFIS–NDO–DSMC phase 1 0.000516 rad, respectively. For phase, id="M2"> RMSE 0.9999 0.003202 SMC, 0.000643 0.003252 rad phases, Stance id="M3"> 0.9997 0.9994, As seen from simulation results, exhibited excellent high very fast convergence steady state compared SMC.