Adaptive Backstepping Control for Upper Limb Rehabilitation Robot using PSO Tuning

Abstract

This paper presents adaptive backstepping control for two degrees of freedom upper limb exoskeleton rehabilitation robot for passive rehabilitation therapy. The optimal backstepping controller parameters and adaptation law parameter are determined by minimizing a cost function using the particle swarm optimization algorithm. The optimization process is performed offline to determine the optimal parameters once and then implement them in the controller. The cost function is designed to improve the tracking performance and dynamic characteristics.