Title :
Higher-order sliding mode control of leg power in paraplegic FES-Cycling
Author :
Farhoud, Aidin ; Erfanian, Abbas
Author_Institution :
Dept. of Biomed. Eng., Iran Univ. of Sci. & Technol. (IUST), Tehran, Iran
fDate :
Aug. 31 2010-Sept. 4 2010
Abstract :
In this paper, we propose a robust control methodology based on high order sliding mode (HOSM) for control of the leg power in FES-Cycling. A major obstacle to the development of control systems for functional electrical stimulation (FES) has been the highly non-linear, time-varying properties of neuromusculoskeletal systems. A useful and powerful control scheme to deal with the uncertainties, nonlinearities, and bounded external disturbances is the sliding mode control (SMC). The main drawback of the classical sliding mode is mostly related to the so-called chattering which is dangerous for FES applications. To avoid chattering, HOSM approaches were proposed. Keeping the main advantages of the original approach, at the same time they totally remove the chattering effect and provide for even higher accuracy in realization. The results of simulation studies and experiments on two paraplegic subjects show the superior performance of the leg power control during different conditions of operation using HOSM control scheme.
Keywords :
bioelectric phenomena; biomechanics; medical control systems; neuromuscular stimulation; patient rehabilitation; robust control; variable structure systems; chattering; functional electrical stimulation; higher-order sliding mode control; leg power control; neuromusculoskeletal systems; paraplegic FES cycling; paraplegic subjects; robust control; time-varying properties; Fatigue; Leg; Muscles; Neuromuscular stimulation; Sliding mode control; Torque; Trajectory; Computer Simulation; Electric Stimulation; Electric Stimulation Therapy; Humans; Leg; Models, Biological; Paraplegia;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE
Conference_Location :
Buenos Aires
Print_ISBN :
978-1-4244-4123-5
DOI :
10.1109/IEMBS.2010.5627532