T-S Fuzzy-Model-Based Tracking Control of Lower Limb Exoskeleton Rehabilitation Robot

This paper focuses on the tracking control design of the lower limb exoskeleton rehabilitation robot. A Takagi–Sugeno (T-S) fuzzy model of the lower limb exoskeleton rehabilitation robot is constructed. Then, a T-S fuzzy-model-based tracking control system can be formed by the T-S fuzzy model, a reference model and a tracking controller. The stability analysis of the T-S fuzzy-model-based tracking control system is performed on the basis of the Lyapunov stability theory, and stability conditions in terms of linear matrix inequalities (LMIs) are developed. Finally, the simulation results on a lower limb exoskeleton robot demonstrate the effectiveness of the proposed method.