Higher-order sliding mode control of leg power in paraplegic FES-Cycling
Higher-order sliding mode control of leg power in paraplegic FES-Cycling
复制标题
截瘫患者腿部力量的高阶滑模控制 FES-Cycling
DOI：
10.1109/iembs.2010.5627532
复制
发表时间：
2010
期刊：
影响因子：
--
通讯作者：
A. Erfanian
中科院分区：
文献类型：
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作者：
Aidin Farhoud;A. Erfanian
在本文中，我们提出了一种鲁棒控制方法的基础上高阶滑模（HOSM）的腿功率控制的FES循环。神经肌肉骨骼系统的高度非线性、时变特性一直是功能性电刺激（FES）控制系统发展的主要障碍。一个有用的和强大的控制方案来处理的不确定性，非线性和有界外部干扰是滑模控制（SMC）。经典滑模的主要缺点是与所谓的抖振有关，抖振对于FES应用是危险的。为了避免抖振，HOSM方法被提出。在保持原方法的主要优点的同时，它们完全消除了抖振的影响，并提供更高的精度实现。对两名截瘫患者的仿真研究和实验结果表明，在不同的操作条件下，使用HOSM控制方案的腿功率控制的上级性能。
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.