Abstract
Functional electrical stimulation (FES) is a rehabilitation technique in which an electric field is applied across a muscle group to induce muscle contractions to perform a functional task such as cycling. By combining FES with a motorized cycle, a switched system is created with multiple actuators (i.e., muscles and electric motor) as inputs, and multiple tracking objectives (i.e., position, cadence, and torque) can be accomplished. To examine the performance of the uncertain switched nonlinear system, a common Lyapunov function and a dwell-Time analysis are used to prove asymptotic position, cadence, and torque tracking to an ultimate bound. An auxiliary Lyapunov analysis is then generated to conclude that while position and cadence undergo exponential convergence, torque tracking is uniformly ultimate bounded.
Original language | English (US) |
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Title of host publication | 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 5900-5905 |
Number of pages | 6 |
Volume | 2018-January |
ISBN (Electronic) | 9781509028733 |
DOIs | |
State | Published - Jan 18 2018 |
Externally published | Yes |
Event | 56th IEEE Annual Conference on Decision and Control, CDC 2017 - Melbourne, Australia Duration: Dec 12 2017 → Dec 15 2017 |
Other
Other | 56th IEEE Annual Conference on Decision and Control, CDC 2017 |
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Country/Territory | Australia |
City | Melbourne |
Period | 12/12/17 → 12/15/17 |
Keywords
- Functional Electrical Stimulation (FES)
- Lyapunov
- Nonlinear Control
- Rehabilitation Robot
- Switched System
- Torque Tracking
ASJC Scopus subject areas
- Decision Sciences (miscellaneous)
- Industrial and Manufacturing Engineering
- Control and Optimization