Motorized and functional electrical stimulation induced cycling via switched adaptive concurrent learning control

Jonathan Casas, Chen Hao Chang, Victor H. Duenas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationAdaptive/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
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791884270
DOIs
StatePublished - 2020
EventASME 2020 Dynamic Systems and Control Conference, DSCC 2020 - Virtual, Online
Duration: Oct 5 2020Oct 7 2020

Publication series

NameASME 2020 Dynamic Systems and Control Conference, DSCC 2020
Volume1

Conference

ConferenceASME 2020 Dynamic Systems and Control Conference, DSCC 2020
CityVirtual, Online
Period10/5/2010/7/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Energy Engineering and Power Technology
  • Aerospace Engineering
  • Automotive Engineering
  • Biomedical Engineering
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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