Robust switched control design for electrically stimulated lower limbs: A linear model analysis in healthy and spinal cord injured subjects

Página do item simplificado
dc.contributor.authorTeodoro, Ricardo G. [UNESP]
dc.contributor.authorNunes, Willian R.B.M. [UNESP]
dc.contributor.authorde Araujo, Rafael A. [UNESP]
dc.contributor.authorSanches, Marcelo A.A. [UNESP]
dc.contributor.authorTeixeira, Marcelo C.M. [UNESP]
dc.contributor.authorde Carvalho, Aparecido A. [UNESP]
dc.contributor.institutionScience and Technology of Paraná
dc.contributor.institutionControl and Automation Laboratory
dc.contributor.institutionUniversidade Estadual Paulista (Unesp)
dc.date.accessioned2020-12-12T02:14:47Z
dc.date.available2020-12-12T02:14:47Z
dc.date.issued2020-09-01
dc.description.abstractFunctional electrical stimulation (FES) has been used to restore and aid motor functions in paraplegics, promoting better therapeutic results for its users. From experimental results, one can observe that there exists an uncertain term added to the control signal for a given operating point, because of the plant uncertainties. An experimental setup is presented to identify a linear model containing uncertainties. Then, robust single-gain controllers and suitable switched controllers are designed for compensating the uncertain term added to the control signal. Open-loop technique, robust single-gain and robust switched controllers are numerically compared. The experimental results show the regulation for five healthy and four paraplegic individuals. The successful run time when the robust switched control is used along with a smooth switching signal is higher than those of other studies presented in the literature. In addition, the results indicate that compared with the robust single-gain controller, the robust switched controller minimizes the influence of the parametric uncertainties, returns the smallest time-derivative value of the Lyapunov function, and presents higher feasibility and lower gain norm to control the system.en
dc.description.affiliationIFPR - Federal Institute of Education Science and Technology of Paraná, José Felipe Tequinha St., 1400 Paranavaí, PR
dc.description.affiliationUTFPR - Federal University of Technology-Paraná Control and Automation Laboratory, Marcilio Dias St., 635. Apucarana, PR
dc.description.affiliationUNESP - São Paulo State University Control Research Laboratory Ilha Solteira SP
dc.description.affiliationUNESP - São Paulo State University Instrumentation and Biomedical Engineering Laboratory Ilha Solteira SP
dc.description.affiliationUnespUNESP - São Paulo State University Control Research Laboratory Ilha Solteira SP
dc.description.affiliationUnespUNESP - São Paulo State University Instrumentation and Biomedical Engineering Laboratory Ilha Solteira SP
dc.description.sponsorshipConselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)
dc.description.sponsorshipCoordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
dc.description.sponsorshipIdCAPES: 001
dc.identifierhttp://dx.doi.org/10.1016/j.conengprac.2020.104530
dc.identifier.citationControl Engineering Practice, v. 102.
dc.identifier.doi10.1016/j.conengprac.2020.104530
dc.identifier.issn0967-0661
dc.identifier.scopus2-s2.0-85087781513
dc.identifier.urihttp://hdl.handle.net/11449/200739
dc.language.isoeng
dc.relation.ispartofControl Engineering Practice
dc.sourceScopus
dc.subjectFunctional electrical stimulation (FES)
dc.subjectLinear matrix inequalities (LMIs)
dc.subjectRehabilitation
dc.subjectSwitched control
dc.titleRobust switched control design for electrically stimulated lower limbs: A linear model analysis in healthy and spinal cord injured subjectsen
dc.typeArtigo
Arquivos
Coleções
Artigos - Biologia e Zootecnia - FEIS