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An efficient sigmoidal class topper optimization-based PID controller for human knee exoskeleton system

Authors :
Sahu, Subhalaxmi
Acharya, Debasis
Das, Amar Kumar
Nayak, Partha Shankar
Source :
International Journal of Dynamics and Control; January 2025, Vol. 13 Issue: 1 p1-12, 12p
Publication Year :
2025

Abstract

Many people face knee problems due to conditions like osteoarthritis, obesity, post-polio syndrome, strokes, ligament injuries, or accidents. To assist with movement, artificial knee exoskeleton systems are often used. This paper proposes an optimal proportional-integral-derivative (PID) controller for accurate control of the angular movement of such devices. Additionally, a sigmoidal class topper optimization (SCTO) technique is designed to optimally tune the PID controller for knee exoskeleton systems. The convergence performance of the SCTO algorithm is tested on various CEC 2005 benchmark functions and compared with existing methods. When applied to the knee exoskeleton system, the SCTO-based PID controller demonstrated improved control performance compared to other algorithms.

Details

Language :
English
ISSN :
2195268X and 21952698
Volume :
13
Issue :
1
Database :
Supplemental Index
Journal :
International Journal of Dynamics and Control
Publication Type :
Periodical
Accession number :
ejs67966812
Full Text :
https://doi.org/10.1007/s40435-024-01521-5