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Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 53-388
Full Name: Hongliu Yu
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Age: ON
Sex: Male
Address: 213 Mailbox, 516 Jungong Rd.,Shanghai,China
Country: CHINA
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E-mail address: yhl98@hotmail.com
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Title of the Paper: Study on Fuzzy-CMAC Control for Intelligent Prosthetic Leg
Authors as they appear in the Paper: Hong-Liu Yu, Zhao-Hong Xu, Panpan Li
Email addresses of all the authors: yhl98@hotmail.com,xuzhdoc@yahoo.com.cn,lipan052@126.com
Number of paper pages: 11
Abstract: The features of complex system model, such as nonlinearity and parameter uncertainty, in the Intelligent Prosthetic Leg (IPL ) system determines the need of intelligent control methods. On the other hand, the traditional mathematic model is not suitable for the actual control because the IPL knee torque is indirectly caused by the nonlinear damping at the knee joint. A dynamic model of a self-made hydraulic IPL with the nonlinear damper control parameters and hip torque was established, and an inverse dynamic compound controller of PD-FCMAC for tracking the knee swing was designed in the paper. A case simulation shows that an arbitrary trajectory like a desired walking pattern can be tracked in less than 5 seconds, which proves that the designed controller has high performance of real-time and precision.
Keywords: intelligent control, prosthetic leg; dynamic model; fuzzy-CMAC Controller
EXTENSION of the file: .doc
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