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In this paper, an adaptive reduced fuzzy decoupling controller is developed for a lower limb rehabilitation exoskeleton robot (2-DOF) in the case of uncertainties. With decoupled control, the initial overall MIMO system is separated into a set of individual MISO subsystems for independent control. A simplified adaptive fuzzy is proposed to reduce computation time, addressing the issues of traditional fuzzy systems. The controller has good control quality, tracking the human gait motion trajectory with uncertainty. Simulation results show that the proposed controller performs better than the traditional fuzzy controller.

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Adaptive Reduced Fuzzy Decoupling Control for Lower Limb Exoskeleton with Uncertainties

  • 会议论文

  • 发表日期：

    2025年

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  • Van-Truong Nguyen,
  • Duc-Duong Tran,
  • Ngoc-Duy Le,
  • Van-Truong Dang

摘要

In this paper, an adaptive reduced fuzzy decoupling controller is developed for a lower limb rehabilitation exoskeleton robot (2-DOF) in the case of uncertainties. With decoupled control, the initial overall MIMO system is separated into a set of individual MISO subsystems for independent control. A simplified adaptive fuzzy is proposed to reduce computation time, addressing the issues of traditional fuzzy systems. The controller has good control quality, tracking the human gait motion trajectory with uncertainty. Simulation results show that the proposed controller performs better than the traditional fuzzy controller.