Optimal Linear Quadratic Control for Knee-Ankle Orthosis System

Hussein, Fatimah I.; Raafat, Safanah

doi:10.33103/uot.ijccce.22.2.10

	Optimal Linear Quadratic Control for Knee-Ankle Orthosis System
IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING
Article 10, Volume 22, Issue 2, 2022, Pages 109-124 PDF (1.79 M)
Document Type: Research Paper
DOI: 10.33103/uot.ijccce.22.2.10
Authors
Fatimah I. Hussein^* ¹; Safanah Raafat²
¹control and systems Departement, university of Technology
²University of Technology-Iraq
Abstract
The control technique for an exoskeleton system for lower limb rehabilitation is complicated, and numerous internal and external elements must be taken into account, in addition to the uncertainties in the system model. In this paper, through the analysis of the lower extremity exoskeleton is utilized to obtain the corresponding equation and its linearized form. The nonlinear differential equations have been linearized by using Jacobean’s method in order to facilitate the controller design. Considering the interior and external factors of the connecting rod, the uncertain elements are introduced and therefore the optimal control technique is applied to regulate the system. An optimal state feedback control strategy of Linear Quadratic Regulator (LQR), and LQR-Servo have been implemented in this work. Finally, the physical parameters of the Knee-Ankle Orthosis (KAO) exoskeleton are used, and the simulation results show the advantage and applicability of the proposed controller’s design of the Knee-Ankle orthosis system.
Keywords
Rehabilitation; Knee-Ankle orthosis (KAO); Optimal control; LQR-Servo controller

Statistics Article View: 323 PDF Download: 204