A New Fractional-Order Adaptive Sliding-Mode Approach for Fast Finite-Time Control of Human Knee Joint Orthosis with Unknown Dynamic

Aydin Azizi (), Mojtaba Naderi Soorki (), Tahmineh Vedadi Moghaddam and Ali Soleimanizadeh
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Aydin Azizi: School of Engineering, Computing and Mathematics, Oxford Brookes University, Wheatley Campus, Oxford OX33 1HX, UK
Mojtaba Naderi Soorki: Department of Electrical Engineering, Sharif University of Technology, Tehran 14588-89694, Iran
Tahmineh Vedadi Moghaddam: Department of Electrical Engineering, Amirkabir University of Technology, Tehran 15875-4413, Iran
Ali Soleimanizadeh: Department of Electrical Engineering, Islamic Azad University South Tehran Branch, Tehran 15875-4413, Iran

Mathematics, 2023, vol. 11, issue 21, 1-16

Abstract: This study delves into the implementation of Fast Finite Time Fractional-Order Adaptive Sliding Mode Control (FFOASMC) for knee joint orthosis (KJO) in the presence of undisclosed dynamics. To achieve this, a novel approach introduces a Fractional-Order Sliding Surface (FOSS). In the context of limited knowledge regarding the dynamics of knee joint arthrosis, Fractional-Order Fast Adaptive Sliding Mode Control (FOFASMC) is devised. Its purpose is to ensure both finite-time stability and prompt convergence of the KJO’s state to the desired trajectory. This controller employs adaptive rules to estimate the enigmatic dynamic parameters of KJO. Through the application of the Lyapunov theorem, the attained finite-time stability of the closed loop is demonstrated. Simulation results effectively showcase the viability of these approaches and offer a comparative analysis against conventional integer-order sliding mode controllers.

Keywords: fractional-order control; knee joint arthrosis; adaptive sliding mode control (ASMC); finite-time stability (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2023
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