Observer Design for a Nonlinear Neuromuscular System with Multi-rate Sampled and Delayed Output Measurements
Observer Design for a Nonlinear Neuromuscular System with Multi-rate Sampled and Delayed Output Measurements
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DOI：
10.23919/acc.2019.8814473
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发表时间：
2019-07
期刊：
影响因子：
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通讯作者：
Qiang Zhang;Zhiyu Sheng;Kang Kim;N. Sharma
中科院分区：
文献类型：
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作者：
Qiang Zhang;Zhiyu Sheng;Kang Kim;N. Sharma
机器人设备和功能性电刺激（FES）用于为不完全脊髓损伤的患者提供康复治疗。治疗的目的是改善他们虚弱的随意肌肉力量。在这些治疗中使用的各种控制策略需要测量参与者的意志强度。这通知机器人或FES设备与用户的虚弱成比例地调节辅助。在本文中，我们提出了一个观察员的设计，估计脚踝运动，引起的意志。观测器使用非线性连续时间神经肌肉系统，该系统具有来自各种感测模态（包括肌电图、超声成像和惯性测量单元）的具有非均匀和未知延迟的多速率采样输出测量。我们假设一个允许的最大值的非同步采样间隔和非均匀的延迟。通过构造一个Lyapunov-Krasovskii函数，给出了估计误差指数稳定的充分条件.数值仿真验证了所设计观测器的有效性。
Robotic devices and functional electrical stimulation (FES) are utilized to provide rehabilitation therapy to persons with incomplete spinal cord injury. The goal of the therapy is to improve their weakened voluntary muscle strength. A variety of control strategies used in these therapies need a measure of participant's volitional strength. This informs the robotic or an FES device to modulate assistance proportional to the user's weakness. In this paper we propose an observer design to estimate ankle kinematics that are elicited volitionally. The observer uses a nonlinear continuous-time neuromuscular system, which has multi-rate sampled output measurements with non-uniform and unknown delays from various sensing modalities including electromyography, ultrasound imaging, and an inertial measurement unit. We assume an allowable maximum value of unsynchronized sampling intervals and nonuniform delays. By constructing a Lyapunov-Krasovskii function, sufficient conditions are derived to prove the exponential stability of the estimation error. Numerical simulations are provided to verify the effectiveness of the designed observer.