Predictor-based tracking for neuromuscular electrical stimulation

DOI10.1002/RNC.3211MaRDI QIDQ3465682zbMATHOpenAlexWikidataFDO

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)

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

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)

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.

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Cites work

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

Cited in

(9)

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

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