Switched Motorized and Functional Electrical Stimulation Cycling Controllers for Power Tracking

Chen Hao Chang, Victor H. Duenas

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

Abstract

Motorized functional electrical stimulation (FES) induced cycling is a rehabilitation technique, where lower-limb muscles are artificially activated and an electric motor provides assistance to achieve cadence (speed) and torque tracking objectives. In this paper, cadence and torque controllers are designed based on a cycle-rider model with switched muscle and motor inputs computed based on state-dependent switching. Cadence tracking is accomplished by switching across lower-limb muscles (within the rider's kinematic efficient regions of the crank cycle) and an electric motor (within the rider's inefficient regions of the crank cycle). The position and cadence reference trajectories are generated by a target impedance model yielding bounded trajectories. A robust sliding-mode torque controller is designed for the electric motor to track a desired interaction torque, when the muscles are stimulated within the kinematic efficient muscle regions. A passivity-based analysis is developed to ensure stability of the closed-loop torque subsystem and a Lyapunov-based stability analysis ensures exponential cadence tracking.

Original languageEnglish (US)
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1436-1441
Number of pages6
ISBN (Electronic)9781728113982
DOIs
StatePublished - Dec 2019
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: Dec 11 2019Dec 13 2019

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2019-December
ISSN (Print)0743-1546

Conference

Conference58th IEEE Conference on Decision and Control, CDC 2019
CountryFrance
CityNice
Period12/11/1912/13/19

Keywords

  • FES-Cycling
  • Lyapunov Methods
  • Power Tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Chang, C. H., & Duenas, V. H. (2019). Switched Motorized and Functional Electrical Stimulation Cycling Controllers for Power Tracking. In 2019 IEEE 58th Conference on Decision and Control, CDC 2019 (pp. 1436-1441). [9029409] (Proceedings of the IEEE Conference on Decision and Control; Vol. 2019-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC40024.2019.9029409