Adaptive fuzzy terminal-based neuro-sliding mode control of ankle-joint movement using intraspinal micro stimulation

In this study an adaptive fuzzy terminal-based neuro-sliding mode control (AFTNSMC) was proposed for control of ankle joint using intraspinal microstimulation (ISMS). The controller is based on the combination of an adaptive terminal-based neural controller with sliding-mode control (SMC). The most advantage of terminal dynamics is the fast convergence compared to the conventional gradient descent learning algorithm. The experiments were conducted on three rats. Microelectrodes were inserted into the motor pools of dorsiflexor and plantar flexor muscles. The results show that a good tracking performance was obtained using AFTNSMC. The average of tracking error over all trials of experiments and all rats is 4.8° (9.3%).