Extremum Seeking Control for Model-Free Auto-Tuning of Powered Prosthetic Legs.

ABSTRACT: This paper proposes an extremum seeking controller (ESC) for simultaneously tuning the feedback control gains of a knee-ankle powered prosthetic leg using continuous-phase controllers. Previously, the proportional gains of the continuous-phase controller for each joint were tuned manually by trial-and-error, which required several iterations to achieve a balance between the prosthetic leg tracking error performance and the user's comfort. In this paper, a convex objective function is developed, which incorporates these two goals. We present a theoretical analysis demonstrating that the quasi-steady-state value of the objective function is independent of the controller damping gains. Furthermore, we prove the stability of error dynamics of continuous-phase controlled powered prosthetic leg

SUBMITTER: Kumar S 

PROVIDER: S-EPMC7546444 | biostudies-literature | 2020 Nov

REPOSITORIES: biostudies-literature