Design of Takagi-Sugeno Fuzzy Regulator and Observer for Knee Joint Angle Control for a Paraplegic Patient Considering Norm-Bounded Uncertainties

Abstract

In this manuscript, a design method, based on Linear Matrix Inequalities (LMIs), is proposed to design a fuzzy regulator and a fuzzy observer for a Takagi-Sugeno fuzzy mathematical model of the knee joint angle control for paraplegic patients, with norm-bounded uncertainties on the system parameters. The authors present a controller design for the Takagi-Sugeno nonlinear system with the aim of controlling the position of the leg of a paraplegic patient and designing an observer for the state variables, so that the estimated variables are used on feedback, instead of the real variables, that are not available. The operation angle is 30 $\circ$ and the angle variation $x_{1}$ in the range of the nonlinear region varies from 0 $\circ$ to 60 $\circ$ . The model is simulated in the Matlab environment, using the numerical parameters available in the literature.

Keywords

Takagi-Sugeno fuzzy models fuzzy observer rehabilitation engineering functional electric stimulation norm-bounded uncertainties

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