Optimal Backstepping Controller Design for Prosthetic Knee Joint

The mobility of people who have had a lower limb amputated is slower, less stable, and needs more metabolic energy than the movement physically fit, also, often difficulty moving on uneven terrain stairs. In most cases, these problems may be traced back to usage controllers for an above-knee prosthesis, which enhances quality life millions individuals lost limbs. this work addresses dynamic modeling parameter identification limb, control 2-DOF joint prosthetic, because uncertainty, high nonlinearity, with imbalance, external perturbations, can occur during movement. Backstepping algorithm based Lyapunov theory was used, ensure system stability enhanced performance. Bat algorithms optimization technique used fine-tune design parameters improve performance proposed controller. From results, found that quantitative comparison between present study related articles previously published sliding mode observer control, showed reasonable agreement. To convolution optimal algorithms, at action consumptions. It position error prosthetic knee by 9% joint1 7.4% joint2, respectively. Therefore, results are considered satisfactory such biomedical systems.