TY - GEN
T1 - Motorized and functional electrical stimulation induced cycling via switched adaptive concurrent learning control
AU - Casas, Jonathan
AU - Chang, Chen Hao
AU - Duenas, Victor H.
N1 - Publisher Copyright:
Copyright © 2020 ASME
PY - 2020
Y1 - 2020
N2 - Cycling induced by functional electrical stimulation (FES) with motorized assistance is a rehabilitative approach for individuals with movement impairments. In this paper, an adaptive controller is designed for cadence tracking by switching across multiple muscle groups and an electric motor. The control design and analysis are based on a recently developed adaptive method called integral concurrent learning and an invariance-like tool to ensure stability of switched adaptive systems. A Lyapunov-based stability analysis for the overall switched rider-cycle system is segregated into two phases. During the first phase when sufficient learning has not been attained, which is quantified by a finite excitation condition, global asymptotic tracking and bounded parameter estimation are guaranteed. In the second phase, global exponential tracking and parameter convergence is ensured after the finite excitation condition is satisfied for all the subsystems within a finite time.
AB - Cycling induced by functional electrical stimulation (FES) with motorized assistance is a rehabilitative approach for individuals with movement impairments. In this paper, an adaptive controller is designed for cadence tracking by switching across multiple muscle groups and an electric motor. The control design and analysis are based on a recently developed adaptive method called integral concurrent learning and an invariance-like tool to ensure stability of switched adaptive systems. A Lyapunov-based stability analysis for the overall switched rider-cycle system is segregated into two phases. During the first phase when sufficient learning has not been attained, which is quantified by a finite excitation condition, global asymptotic tracking and bounded parameter estimation are guaranteed. In the second phase, global exponential tracking and parameter convergence is ensured after the finite excitation condition is satisfied for all the subsystems within a finite time.
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U2 - 10.1115/DSCC2020-3311
DO - 10.1115/DSCC2020-3311
M3 - Conference contribution
AN - SCOPUS:85101468939
T3 - ASME 2020 Dynamic Systems and Control Conference, DSCC 2020
BT - Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions
PB - American Society of Mechanical Engineers
T2 - ASME 2020 Dynamic Systems and Control Conference, DSCC 2020
Y2 - 5 October 2020 through 7 October 2020
ER -