Sliding Mode Control of Robotic Gait Simulator

Abstract

In this paper, Sliding Mode Controller is used to control the hip angle trajectory of a ‘Robotic gait simulator’ and knee angle trajectory of robotic leg. The gait simulator along with robotic leg reproduces the human walking motion. Governing equations of human leg motion is derived using Lagrangian formulation. Control law is designed separately for hip and knee model despite the fact that leg model is actually a Multi Input Multi Output (MIMO) system. All simulations are done in MATLAB environment. Simulation results shows that, designed controller is able to follow the desired angle trajectories.