Control of Lower Limb Rehabilitation Robot Based on Fuzzy PID

Abstract

For the problem of speed control of passive training in lower limb rehabilitation robot, a control strategy based on fuzzy PID is proposed. Firstly, the trajectory curve of the position was derived and the fuzzy controller was designed. The kinematics model and the simulation model of the controlled object were established based on Matlab/Simulink and Adams. The simulation results showed that the proposed control strategy was feasible and more classic. The PID control has the advantages of small overshoot, fast response, and high steady-state accuracy. It can better track the planned motion curve and meet the system control performance requirements.