PID control of the mechanical legs based on fuzzy adaptive

Mechanical leg control is the main aspects of lower extremity exoskeleton robot, Under the traditional PID control, the various parameters can not be modified in the running system, so the contradiction can't be solved between the stability and dynamic response, Adaptive fuzzy controller is a fuzzy logic control combined with PID control, it adjusts the parameters of controller online based on the status of real-time system, so as to achieve the desired performance.