Position and cadence tracking of a motorized FES-cycle with an unknown time-varying input delay using saturated FES control
- Award ID(s):
- 1762829
- PAR ID:
- 10355284
- Date Published:
- Journal Name:
- Automatica
- Volume:
- 139
- Issue:
- C
- ISSN:
- 0005-1098
- Page Range / eLocation ID:
- 110176
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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Functional electrical stimulation (FES) induced cycling provides a means of therapeutic exercise and functional restoration for people affected by neuromuscular disorders. A challenge in closed-loop FES control of coordinated motion is the presence of a potentially destabilizing input delay between the application of the electrical stimulation and the resulting muscle contraction. Moreover, switching amongst multiple actuators (e.g., between FES control of various muscle groups and a controlled electric motor) presents additional challenges for overall system stability. In this paper, a closed-loop controller is developed to yield exponential cadence tracking, despite an unknown input delay, switching between FES and motor only control, uncertain nonlinear dynamics, and additive disturbances. Lyapunov-Krasovskii functionals are used in a Lyapunov-based stability analysis to ensure exponential convergence for all time.more » « less
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