Compound control for intelligent artificial Leg based on Fuzzy-CMAC

The features of complex system model, such as nonlinearity and parameter uncertainty, in the Intelligent Artificial Leg (IAL) system determines the need of intelligent control methods. On the other hand, the traditional mathematic model is not suitable for the actual control because the IAL knee torque is indirectly caused by the nonlinear damping at the knee joint. A dynamic model of a self-made hydraulic IAL with the nonlinear damper control parameters and hip torque was established, and an inverse dynamic compound controller of PD/Fuzzy-CMAC for tracking the knee swing was designed in the paper. A case simulation shows that an arbitrary trajectory like a desired walking pattern can be tracked in less than 5 seconds, which proves that the designed controller has high performance of real-time and precision.