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An Adaptive Neuro-Fuzzy Fractional-Order PID Controller for Energy-Efficient Tracking of a 2-DOF Hip–Knee Lower-Limb Exoskeleton

For safe and efficient human–robot interaction, lower-limb exoskeletons used for assistance and rehabilitation need to be precisely and energy-efficiently controlled. By creating an adaptive neuro-fuzzy fractional-order PID (ANFIS-FOPID) controller, this project seeks to improve tracking accuracy, r...

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Principais autores: Mukhtar Fatihu Hamza, Auwalu Muhammad Abdullahi
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2026-03-01
Serier:Modelling
Fag:
lower-limb exoskeleton
adaptive control
fractional-order PID
ANFIS
energy efficiency
control energy analysis
Online adgang:https://www.mdpi.com/2673-3951/7/2/54
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