Time-scaling based sliding mode control for Neuromuscular Electrical Stimulation under uncertain relative degrees

Oliveira, Tiago Roux; Costa, Luiz Henrique; Catunda, João Marcos Yamasaki; Pino, Alexandre Visintainer; Barbosa, William S.; Souza, M.N.

doi:10.1016/j.medengphy.2017.03.001

Cited by 18 publications

(13 citation statements)

References 45 publications

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“…On the other hand, manual tuning is a time-consuming task and systematic methods rely on knowledge of the plant model or require special experiments to identify a suitable plant model. However, in NMES an exact plant model is not known, and it is not desirable to perform long system identification procedures with the patients in open loop (Oliveira et al 2017). Note that the neuromuscular model is highly nonlinear and time-varying (Lynch and Popovic 2008), which means those tests may be often unfruitful.…”

Section: Introductionmentioning

confidence: 99%

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Extremum Seeking-based Adaptive PID Control applied to Neuromuscular Electrical Stimulation

Roux-Oliveira

Costa

Pino

et al. 2019

An. Acad. Bras. Ciênc.

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A multivariable deterministic extremum seeking (ES) is being evaluated to construct an adaptive Proportional-Integral-Derivative (PID) control law for the functional Neuromuscular Electrical Stimulation (NMES) of stroke patients. The developed scheme is applied to control the position of the patient's arm so that movements of flexion/extension for its elbow can be produced. The true limitations of a PID controller for these types of applications is that a PID controller is designed for linear systems, but the system which is being controlled is nonlinear. Moreover, it is worth mention that clinicians' knowledge of control systems is limited. Therefore, their expertise in tuning controllers is limited. Also, in NMES applications each patient is unique and requires a unique set of PID parameters. Since it can be time consuming and difficult to find proper parameters for each patient, a better procedure, or a more intelligent adaptive controller, is needed. The PID parameters are updated by means of ES in order to minimize a cost function which brings the desired performance attributes. Experiments are performed with healthy volunteers and stroke patients, including significant advances based on real data and validation. Quantitative results show a reduction of 64.1% in terms of RMSE (Root-Mean-Square Error)-from 8.94 • to 3.21 •-when comparing the tracking curves of the last cycle to the first cycle in the experiments with all stroke patients.

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Section: Introductionmentioning

confidence: 99%

“…Note that the neuromuscular model is highly nonlinear and time-varying (Lynch and Popovic 2008), which means those tests may be often unfruitful. This adverse scenario of modeling motivates the application of robust and adaptive control techniques (Oliveira et al 2017).…”

Section: Introductionmentioning

confidence: 99%

Extremum Seeking-based Adaptive PID Control applied to Neuromuscular Electrical Stimulation

Roux-Oliveira

Costa

Pino

et al. 2019

An. Acad. Bras. Ciênc.

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“…To the general case (without known upper bound), a naive methodology is that via a filter with varying dimension, for which a switching adaptive paradigm has been attempted for linear systems . Recently, an output‐feedback control strategy robust to uncertain relative degree is obtained for linear systems and applied to neuromuscular electrical stimulation . However, no investigation associated with nonlinear systems has yet been found.…”

Section: Introductionmentioning

confidence: 99%

“…Unlike parameter uncertainties, 9 structured uncertainties had largely bothered the adaptive control theory in the 1980s, 3,10-12 such as the unknown relative degree and dynamics uncertainties, which means that the observer for part system dynamics cannot be designed, 11,12 and the unknown control direction, which possibly opposes control effect. 3,10 Control design has received continuous attention for the systems with unknown relative degree and/or dynamics uncertainties, particularly advanced with the breakthrough development of adaptive control and stability theory (see, for example, previous works 5,7,8,[11][12][13][14][15][16][17][18][19][20][21][22] ). First of all, with the information that the unknown relative degree is one or two, adaptive output-feedback control was addressed for linear systems in the work of Morse.…”

Section: Introductionmentioning

confidence: 99%

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Global output‐feedback stabilization for nonlinear systems with unknown relative degree

Wang

Liu

Man

2017

Intl J Robust & Nonlinear

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Summary This paper is devoted to the global stabilization via output feedback for a class of nonlinear systems with unknown relative degree, dynamics uncertainties, unknown control direction, and nonparametric uncertain nonlinearities. In particular, the unknown relative degree is without known upper bound, which renders us to research for a filter with varying dimension rather than the ones with over dimensions in the existing literature. In comparison with more popular but a bit stronger input‐to‐state stable or input‐to‐state practically stable requirement, only bounded‐input bounded‐state stable requirement is imposed on the dynamics uncertainties, which affect the systems in a persistent intensity rather than in a decaying one. In this paper, to compensate multiple serious system uncertainties and realize global output‐feedback stabilization, a design scheme via switching logic together with varying dimensional filter is developed. In this scheme, 2 switching sequences, which separately generate the gains of the controller and act as the varying dimensions of the filter, are designed to overcome unknown control direction, dynamics uncertainties and nonparametric uncertain nonlinearities, and unknown relative degree, respectively. A 2‐mass lumped‐parameter structure is provided to show the effectiveness of the proposed method in this paper.

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Design and validation of feedback controller for social motor coordination with time-varying delays

Zhai

Zhang

2021

Control Engineering Practice

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Time-scaling based sliding mode control for Neuromuscular Electrical Stimulation under uncertain relative degrees

Cited by 18 publications

References 45 publications

Extremum Seeking-based Adaptive PID Control applied to Neuromuscular Electrical Stimulation

Extremum Seeking-based Adaptive PID Control applied to Neuromuscular Electrical Stimulation

Global output‐feedback stabilization for nonlinear systems with unknown relative degree

Design and validation of feedback controller for social motor coordination with time-varying delays

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