Comparison between Classic Control Systems Techniques against Adaptive and Nonlinear Control Techniques in a Lower Limb Prostheses

Foot prosthesis have been well documented, not one has successfully developed and verified that such a prosthesis can improve amputee gait compared to a conventional passive A Previous Work elastic prosthesis. One of the main hurdles that hinder such a development is the challenge of building an ankle- foot prosthesis that matches the size and weight of the intact ankle, but still provides a sufficiently large instantaneous power output and torque to propel an amputee [1-2]. A large number of motorized prototypes have been developed in prosthetic systems, the actuators, sensors and architectures developed have improved the performance of these for human walking in users who have this motor impairment, however the surgical technique used for amputation as well as the control techniques implemented have not had notable progress. This paper presents the design and simulation of the control system for a lower limb prostheses. Three control methods were compared (PD Classic Controller, Model Reference Adaptative Control (MRAC), and sliding mode control) and the behavior of the model was studied after its linearization and its identification through the matlab toolbox.