H-infinity Takagi-Sugeno fuzzy control of a lower limbs rehabilitation device - Université de Reims Champagne-Ardenne
Conference Papers Year : 2006

H-infinity Takagi-Sugeno fuzzy control of a lower limbs rehabilitation device

Abstract

This paper deals with the nonlinear control of a lower limbs isokinetic rehabilitation device based on a Takagi- Sugeno modeling. A Parallel Distributed Compensation control law is used to stabilize the closed-loop system in the whole operational space. The human force applied to the device’s arm is considered as an external disturbance to the system dynamics. To attenuate this disturbance, an H∞ criterion is considered and classical stability conditions were adapted for a class of external perturbed TS model. The voluntary control of the movement by the patient is finally proposed with the use of a discrete state machine.
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Dates and versions

hal-01736808 , version 1 (22-08-2024)

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Lynda Seddiki, Kevin Guelton, Badr Mansouri, J. Zaytoon. H-infinity Takagi-Sugeno fuzzy control of a lower limbs rehabilitation device. 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, Oct 2006, Munich, France. ⟨10.1109/CACSD-CCA-ISIC.2006.4776769⟩. ⟨hal-01736808⟩
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