Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

Algorithm 1

Optimize SMC with GA. (Notation: and represent desired trajectory of hip joint and knee joint, resp.)

, Size = 30, , parameters definition

input vector  , the length of optimized parameters Len = 8

initialize population

for    do

 for    do

    for    do

     ; will be used for fitness

    end for

 end for

 Selection and reproduction

 sort the fitness value and obtain the sequence number  index

 for    do

 end for

 Crossover and select the probability  

 for    do

    temp = rand

    If    do

     for    do

     end for

    end if

 end for

 Mutation and select the probability  

, temp = rand

 for    do

    for    do

    if    do

       if    do

       else

       end if

    end if

    end for

 end for

  replace old generation with new one

end for

Obtain optimal parameters