Indirect Adaptive Fuzzy Decoupling Control With a Lower Limb Exoskeleton

A novel design approach is proposed for indirect adaptive fuzzy decoupling control which is used in the lower limb exoskeleton. In the study, the fuzzy system is used to approximate the unknown system. Furthermore, in the lower limb exoskeleton, the coupling parameters are unknown as the disturbance values from the different subsystems. The paper proposes an reduced adaptive function to approximate these coupling parameters. In the simulation results, it is evident that our proposed method can effectively reduce the fuzzy rules to improve the learning process and the results confirm the effectiveness of the proposed approach.