Vol.31, No.3, 2022, pp.1887-1899, doi:10.32604/iasc.2022.020006
Lyapunov-Redesign and Sliding Mode Controller for Microprocessor Based Transfemoral Prosthesis
  • Ali Murtaza1, Muhammad Usman Qadir1, Muhammad Awais Khan1, Izhar ul Haq1,*, Kamran Shah1, Nizar Akhtar2
1 Advanced Robotics & Automation Lab, Department of Mechatronics Engineering, University of Engineering & Technology, Peshawar, 25100, Pakistan
2 Physical Rehabilitation Training Coordinator, International Committee of the Red Cross, Sana'a, Yemen
* Corresponding Author: Izhar ul Haq. Email:
Received 05 May 2021; Accepted 30 July 2021; Issue published 09 October 2021
Transfemoral prostheses have evolved from mechanical devices to microprocessor-based, electronically controlled knee joints, allowing amputees to regain control of their limbs. For improved amputee experience at varying ambulation rates, these devices provide controlled damping throughout the swing and stance phases of the gait cycle. Commercially available microprocessor-based prosthetic knee (MPK) joints use linear controllers, heuristic-based methods, and finite state machine based algorithms to track the refence gait cycle. However, since the amputee experiences a variety of non-linearities during ambulation, such as uneven terrains, walking backwards and climbing stairs, therefore, traditional controllers produces error, abnormal movements, unstable control system and require manual-tuning. As a result, novel controllers capable of replicating and tracking reference gait cycles for a range of reference signals are needed to reduce the burden on amputees and improve the rehabilitation process. Therefore, the current study proposes two non-linear control techniques, the Lyapunov-redesign controller and the sliding mode controller for real-time tracking of various signals, such as walking on level ground at a normal speed and ambulation on uneven terrains. State-space model of MPK was developed along with the mathematical modelling of non-linear controllers. Simulations and results are presented using MATLAB to verify the ability of proposed non-linear controllers for constantly and dynamically tracking and maintaining desired motion dynamics. Furthermore, for selected reference signals, a linear controller was applied to the same mathematical model of MPK. During tracking of reference angel in case of general gait cycle, an accuracy of 99.95% and 99.96% was achieved for sliding mode controller and Lyapunov-redesign controller respectively. Whereas, for the same case, linear controller had an accuracy of 95.5% only. Therefore, it can be concluded that the performance of non-linear controllers was better than their linear counterparts while tracking various reference signals for microprocessor based prosthetic knee.
Active prosthesis; non-linear controller; sliding mode controller; lyapunov-redesign controller; PID; gait cycle; microprocessor based prosthetic knee
Cite This Article
Murtaza, A., Qadir, M. U., Khan, M. A., Haq, I. U., Shah, K. et al. (2022). Lyapunov-Redesign and Sliding Mode Controller for Microprocessor Based Transfemoral Prosthesis. Intelligent Automation & Soft Computing, 31(3), 1887–1899.
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