Model Free Nonlinear Control with Finite-Time Estimation Applied to Closed-Loop Electrical Stimulation Induced Cycling

Chen Hao Chang, Victor H. Duenas, Amit Sanyal

Research output: Chapter in Book/Entry/PoemConference contribution

8 Scopus citations


Model free or data-driven control methods are suitable for real-time applications that involve nonlinear systems with uncertainties. Human-machine interaction problems include parametric and non-parametric uncertainties that are hard to model. An alternative to develop complex models to account for these uncertainties is to exploit input-output data recorded from the human and machine to improve the performance of the combined system. In this paper, a motorized functional electrical stimulation (FES) cycling system is used to illustrate a data-driven approach that leverages past input-output data to generate an estimate of the system's non-linearly parameterizable and uncertain dynamics. This estimate is computed using an estimation law motivated by a design tool from finite-time stability and used as an input into a feedback controller. The nonlinear controller that switches across the lower-limb muscle groups and an electric motor is designed to achieve a desired speed tracking objective. A Lyapunov-based stability analysis is used to prove an asymptotic result of the tracking and estimation errors.

Original languageEnglish (US)
Title of host publication2020 American Control Conference, ACC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538682661
StatePublished - Jul 2020
Event2020 American Control Conference, ACC 2020 - Denver, United States
Duration: Jul 1 2020Jul 3 2020

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2020 American Control Conference, ACC 2020
Country/TerritoryUnited States


  • Finite-Time Control
  • Functional Electrical Stimulation
  • Lyapunov Methods
  • Model Free Control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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