Predictor-based tracking for neuromuscular electrical stimulation

DOI10.1002/RNC.3211zbMATH Open1328.93156arXiv1310.1857OpenAlexW1535306083WikidataQ59621463 ScholiaQ59621463MaRDI QIDQ3465682FDOQ3465682

Authors: Iasson Karafyllis, Michael Malisoff, Miroslav Krstic, Ruzhou Yang, M. S. De Queiroz 

Publication date: 22 January 2016

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Abstract: A new hybrid tracking controller for neuromuscular electrical stimulation is proposed. The control scheme uses sampled measurements and is designed by utilizing a numerical prediction of the state variables. The tracking error of the closed-loop system converges exponentially to zero and robustness to perturbations of the sampling schedule is exhibited. One of the novelties of our approach is the ability to satisfy a state constraint imposed by the physical system.

Full work available at URL: https://arxiv.org/abs/1310.1857

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zbMATH Keywords

nonlinear systemsnumerical methodsdelay systemsNMES models

Mathematics Subject Classification ID

Biophysics (92C05) Nonlinear systems in control theory (93C10) Sampled-data control/observation systems (93C57)

Cites Work

• Comments on integral variants of ISS
• Numerical schemes for nonlinear predictor feedback
• Further results on input-to-state stability for nonlinear systems with delayed feedbacks
• Input Delay Compensation for Forward Complete and Strict-Feedforward Nonlinear Systems
• Simultaneous compensation of input and state delays for nonlinear systems
• Feedback stabilization methods for the numerical solution of ordinary differential equations

Cited In (9)

• New control design for bounded backstepping under input delays
• Compensating for fatigue-induced time-varying delayed muscle response in neuromuscular electrical stimulation control
• Position and cadence tracking of a motorized FES-cycle with an unknown time-varying input delay using saturated FES control
• Sampled-data stabilization of nonlinear delay systems with a compact absorbing set
• Compensation of input delay that depends on delayed input
• Stabilization of nonlinear delay systems: a tutorial on recent results
• Robust cadence tracking for switched FES-cycling using a time-varying estimate of the electromechanical delay
• Robust stabilization of nonlinear globally Lipschitz delay systems
• Sampled-data stabilization of nonlinear delay systems with a compact absorbing set and state measurement

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