A Novel Funnel-Based L1 Adaptive Fuzzy Approach for the Control Of An Actuated Ankle Foot Orthosis
Oussama Bey, Rami Jradi, Huiseok Moon, Hala Rifaï, Kaushik Das Sharma, Yacine Amirat, Samer Mohammed
Abstract
This paper introduces a novel funnel-based adaptive {{\mathcal{L}}_1}{{\mathcal{L}}_1} fuzzy control strategy for assisting ankle joint movement during walking with the use of an actuated ankle foot orthosis (AAFO). A projection-based adaptation mechanism employing a fuzzy system is used to estimate the unknown time-varying parameters of the {{\mathcal{L}}_1}{{\mathcal{L}}_1} control law, ensuring precise tracking of the AAFO-wearer system by the state estimator. The projection operator guarantees the convergence of the parameters while offering a limited amount of assistance torque. Funnel-based feedback control is used to mitigate the typical time lag seen when using {{\mathcal{L}}_1}{{\mathcal{L}}_1}-based approaches due to the presence of a low-pass filter commonly used in this type of approach. The effectiveness of the proposed control strategy is demonstrated through real-time experiments involving five healthy subjects.
BibTeX
@inproceedings{icra2024_anovelfunnelbase,
title = {A Novel Funnel-Based L1 Adaptive Fuzzy Approach for the Control Of An Actuated Ankle Foot Orthosis},
author = {Oussama Bey and Rami Jradi and Huiseok Moon and Hala Rifaï and Kaushik Das Sharma and Yacine Amirat and Samer Mohammed},
booktitle = {ICRA 2024},
year = {2024}
}