Trajectory Tracking of Lower Limb Exoskeletons using Fractional Order Sliding Mode Control

This paper introduces Fractional Order Sliding Mode Control (FOSMC) as a novel approach for controlling lower limb exoskeletons in gait rehabilitation. The proposed FOSMC algorithm leverages the fractional calculus concept to achieve precise control over the exoskeleton's joint movements. By incorporating fractional order dynamics, the controller can better capture the non-linearities and uncertainties inherent in the human gait cycle. This results in improved tracking accuracy, reduced energy consumption, and enhanced patient comfort during rehabilitation exercises. Furthermore, the Lyapunov theory has been applied to guarantee the stability of the closed-loop system. The performance of the proposed control approach are evaluated through simulation example.