Abstract
This paper examines torque tracking accomplished by the activation of lower-limb muscles via Functional Electrical Stimulation (FES) and cadence regulation by an electric motor. Challenges arise from the fact that skeletal muscles evoke torque via FES in a time-varying, nonlinear, and delayed manner. A desired torque trajectory is constructed based on the crank position and determined by the knee joint torque transfer ratio (i.e., kinematic efficiency of the knee), which varies as a periodic function of the crank angle. To cope with this periodicity, a repetitive learning controller is developed to track the desired periodic torque trajectory by stimulating the muscle groups. Concurrently, a sliding-mode controller is designed for the electric motor to maintain cadence tracking throughout the entire crank cycle. A passivity-based analysis is developed to ensure stability of the torque and cadence closed-loop systems.
Original language | English (US) |
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Title of host publication | 2018 Annual American Control Conference, ACC 2018 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 3726-3731 |
Number of pages | 6 |
Volume | 2018-June |
ISBN (Print) | 9781538654286 |
DOIs | |
State | Published - Aug 9 2018 |
Externally published | Yes |
Event | 2018 Annual American Control Conference, ACC 2018 - Milwauke, United States Duration: Jun 27 2018 → Jun 29 2018 |
Other
Other | 2018 Annual American Control Conference, ACC 2018 |
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Country | United States |
City | Milwauke |
Period | 6/27/18 → 6/29/18 |
Keywords
- FES-Cycling
- Functional Electrical Stimulation (FES)
- Passivity-Based Control
- Repetitive Learning Control (RLC)
ASJC Scopus subject areas
- Electrical and Electronic Engineering