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Genetic Algorithm with Lyapunov Stability for Control of Prosthetic Knee Joint


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DOI: https://doi.org/10.15866/ireaco.v17i1.24533

Abstract


Many people with lower limb amputees suffer from their inability to carry out their daily activities and their inability to move easily. This research paper has tried to present a model of an artificial knee consisting of a Maxon motor connected to a gear with a ball screw. When the system is turned on, it will generate torque capable of achieving the flexion and extension of the knee, thus helping the amputee move. This has required adopting a control system that deals with non-linear systems, so backstepping control with Lyapunov stability has been used with a genetic algorithm in order to track the gate cycle. By using mathematical modeling of nonlinear control simulation, a state space model of the artificial knee has been developed with results by using MATLAB to verify the ability of the proposed nonlinear controllers in order to track constantly and dynamically and maintain the desired motion dynamics. Genetic algorithm optimization technique is used to fine-tune design parameters and improve the performance of the proposed design.
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Keywords


Prosthetic Knee Joint; Genetic Algorithm; Lyapunov Stability

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References


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