Joint Control of the Upper Limb Exoskeleton Based on Fuzzy-PD

Abstract

In order to achieve a good servo control effect of the upper limb exoskeleton, Fuzzy-PD controller is applied to the control system. Through the analysis of the hydraulic system, the mathematical model of electro-hydraulic servo valve and hydraulic cylinder are been established. Then the principle of fuzzy PD controller is been introduced. The linguistic variables, the membership functions and the fuzzy control rules are also been determined. Finally the MATLAB is used to simulate the upper limb exoskeleton. The result of the simulation shows that Fuzzy-PD controller has a better effect compared to the PID controller.