Electrically Stimulated Lower Limb using a Takagi-Sugeno Fuzzy Model and Robust Switched Controller Subject to Actuator Saturation and Fault under Nonideal Conditions

Detalhes bibliográficos
Autor(a) principal: Nunes, Willian Ricardo Bispo Murbak
Data de Publicação: 2022
Outros Autores: Alves, Uiliam Nelson Lendzion Tomaz, Sanches, Marcelo Augusto Assunção [UNESP], Teixeira, Marcelo Carvalho Minhoto [UNESP], de Carvalho, Aparecido Augusto [UNESP]
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Institucional da UNESP
Texto Completo: http://dx.doi.org/10.1007/s40815-021-01115-9
http://hdl.handle.net/11449/233279
Resumo: Electrically stimulated lower limb systems contain higher order nonlinearities and uncertainties in their physical parameters. Takagi-Sugeno (TS) fuzzy models are used to model nonlinear systems. Techniques such as parallel distributed compensation (PDC) are dependent on the membership functions that constitute the TS fuzzy model. When the exact representation approach is used to electrical stimulation applications, the system’s performance under PDC control can be deteriorated, because the membership functions may be uncertain, besides a high computational cost be required to compute them. In this paper, we propose a robust switched control subject to actuator saturation and fault (RSwASF) that effectively handles system uncertainties and nonidealities, such as fatigue, spasms, tremor, and muscle recruitment. Control techniques based on TS fuzzy modeling (PDC and robust PDC), as well as other approaches, such as sliding-mode control, backstepping, super-twisting, gain-scheduling, and proportional-integral-derivative (PID) control were compared to RSwASF through the root-mean-squared error (RMSE). The results indicate that RSwASF minimizes the influence of the parametric uncertainties and presents the lowest RMSE for healthy and paraplegic individuals.
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spelling Electrically Stimulated Lower Limb using a Takagi-Sugeno Fuzzy Model and Robust Switched Controller Subject to Actuator Saturation and Fault under Nonideal ConditionsFunctional electrical stimulation (FES)Linear matrix inequalities (LMIs)RehabilitationRobust switched controlUncertain fuzzy modelsUncertain nonlinear systemElectrically stimulated lower limb systems contain higher order nonlinearities and uncertainties in their physical parameters. Takagi-Sugeno (TS) fuzzy models are used to model nonlinear systems. Techniques such as parallel distributed compensation (PDC) are dependent on the membership functions that constitute the TS fuzzy model. When the exact representation approach is used to electrical stimulation applications, the system’s performance under PDC control can be deteriorated, because the membership functions may be uncertain, besides a high computational cost be required to compute them. In this paper, we propose a robust switched control subject to actuator saturation and fault (RSwASF) that effectively handles system uncertainties and nonidealities, such as fatigue, spasms, tremor, and muscle recruitment. Control techniques based on TS fuzzy modeling (PDC and robust PDC), as well as other approaches, such as sliding-mode control, backstepping, super-twisting, gain-scheduling, and proportional-integral-derivative (PID) control were compared to RSwASF through the root-mean-squared error (RMSE). The results indicate that RSwASF minimizes the influence of the parametric uncertainties and presents the lowest RMSE for healthy and paraplegic individuals.Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Control and Automation Laboratory Federal University of Technology - Paraná (UTFPR), Marcilio Dias St., 635., PRDepartment of Control and Automation Engineering Federal Institute of Education Science and Technology of Paraná (IFPR), Dr. Tito Ave., 801, PRInstrumentation & Biomedical Engineering Laboratory São Paulo State University (UNESP), Prof. José Carlos Rossi Ave., SPControl Research Laboratory São Paulo State University (UNESP), Prof. José Carlos Rossi Ave., SPInstrumentation & Biomedical Engineering Laboratory São Paulo State University (UNESP), Prof. José Carlos Rossi Ave., SPControl Research Laboratory São Paulo State University (UNESP), Prof. José Carlos Rossi Ave., SPCAPES: 001Federal University of Technology - Paraná (UTFPR)Science and Technology of Paraná (IFPR)Universidade Estadual Paulista (UNESP)Nunes, Willian Ricardo Bispo MurbakAlves, Uiliam Nelson Lendzion TomazSanches, Marcelo Augusto Assunção [UNESP]Teixeira, Marcelo Carvalho Minhoto [UNESP]de Carvalho, Aparecido Augusto [UNESP]2022-05-01T06:02:37Z2022-05-01T06:02:37Z2022-02-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/article57-72http://dx.doi.org/10.1007/s40815-021-01115-9International Journal of Fuzzy Systems, v. 24, n. 1, p. 57-72, 2022.2199-32111562-2479http://hdl.handle.net/11449/23327910.1007/s40815-021-01115-92-s2.0-85110546018Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengInternational Journal of Fuzzy Systemsinfo:eu-repo/semantics/openAccess2024-07-04T19:05:42Zoai:repositorio.unesp.br:11449/233279Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T13:48:25.157343Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false
dc.title.none.fl_str_mv Electrically Stimulated Lower Limb using a Takagi-Sugeno Fuzzy Model and Robust Switched Controller Subject to Actuator Saturation and Fault under Nonideal Conditions
title Electrically Stimulated Lower Limb using a Takagi-Sugeno Fuzzy Model and Robust Switched Controller Subject to Actuator Saturation and Fault under Nonideal Conditions
spellingShingle Electrically Stimulated Lower Limb using a Takagi-Sugeno Fuzzy Model and Robust Switched Controller Subject to Actuator Saturation and Fault under Nonideal Conditions
Nunes, Willian Ricardo Bispo Murbak
Functional electrical stimulation (FES)
Linear matrix inequalities (LMIs)
Rehabilitation
Robust switched control
Uncertain fuzzy models
Uncertain nonlinear system
title_short Electrically Stimulated Lower Limb using a Takagi-Sugeno Fuzzy Model and Robust Switched Controller Subject to Actuator Saturation and Fault under Nonideal Conditions
title_full Electrically Stimulated Lower Limb using a Takagi-Sugeno Fuzzy Model and Robust Switched Controller Subject to Actuator Saturation and Fault under Nonideal Conditions
title_fullStr Electrically Stimulated Lower Limb using a Takagi-Sugeno Fuzzy Model and Robust Switched Controller Subject to Actuator Saturation and Fault under Nonideal Conditions
title_full_unstemmed Electrically Stimulated Lower Limb using a Takagi-Sugeno Fuzzy Model and Robust Switched Controller Subject to Actuator Saturation and Fault under Nonideal Conditions
title_sort Electrically Stimulated Lower Limb using a Takagi-Sugeno Fuzzy Model and Robust Switched Controller Subject to Actuator Saturation and Fault under Nonideal Conditions
author Nunes, Willian Ricardo Bispo Murbak
author_facet Nunes, Willian Ricardo Bispo Murbak
Alves, Uiliam Nelson Lendzion Tomaz
Sanches, Marcelo Augusto Assunção [UNESP]
Teixeira, Marcelo Carvalho Minhoto [UNESP]
de Carvalho, Aparecido Augusto [UNESP]
author_role author
author2 Alves, Uiliam Nelson Lendzion Tomaz
Sanches, Marcelo Augusto Assunção [UNESP]
Teixeira, Marcelo Carvalho Minhoto [UNESP]
de Carvalho, Aparecido Augusto [UNESP]
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Federal University of Technology - Paraná (UTFPR)
Science and Technology of Paraná (IFPR)
Universidade Estadual Paulista (UNESP)
dc.contributor.author.fl_str_mv Nunes, Willian Ricardo Bispo Murbak
Alves, Uiliam Nelson Lendzion Tomaz
Sanches, Marcelo Augusto Assunção [UNESP]
Teixeira, Marcelo Carvalho Minhoto [UNESP]
de Carvalho, Aparecido Augusto [UNESP]
dc.subject.por.fl_str_mv Functional electrical stimulation (FES)
Linear matrix inequalities (LMIs)
Rehabilitation
Robust switched control
Uncertain fuzzy models
Uncertain nonlinear system
topic Functional electrical stimulation (FES)
Linear matrix inequalities (LMIs)
Rehabilitation
Robust switched control
Uncertain fuzzy models
Uncertain nonlinear system
description Electrically stimulated lower limb systems contain higher order nonlinearities and uncertainties in their physical parameters. Takagi-Sugeno (TS) fuzzy models are used to model nonlinear systems. Techniques such as parallel distributed compensation (PDC) are dependent on the membership functions that constitute the TS fuzzy model. When the exact representation approach is used to electrical stimulation applications, the system’s performance under PDC control can be deteriorated, because the membership functions may be uncertain, besides a high computational cost be required to compute them. In this paper, we propose a robust switched control subject to actuator saturation and fault (RSwASF) that effectively handles system uncertainties and nonidealities, such as fatigue, spasms, tremor, and muscle recruitment. Control techniques based on TS fuzzy modeling (PDC and robust PDC), as well as other approaches, such as sliding-mode control, backstepping, super-twisting, gain-scheduling, and proportional-integral-derivative (PID) control were compared to RSwASF through the root-mean-squared error (RMSE). The results indicate that RSwASF minimizes the influence of the parametric uncertainties and presents the lowest RMSE for healthy and paraplegic individuals.
publishDate 2022
dc.date.none.fl_str_mv 2022-05-01T06:02:37Z
2022-05-01T06:02:37Z
2022-02-01
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://dx.doi.org/10.1007/s40815-021-01115-9
International Journal of Fuzzy Systems, v. 24, n. 1, p. 57-72, 2022.
2199-3211
1562-2479
http://hdl.handle.net/11449/233279
10.1007/s40815-021-01115-9
2-s2.0-85110546018
url http://dx.doi.org/10.1007/s40815-021-01115-9
http://hdl.handle.net/11449/233279
identifier_str_mv International Journal of Fuzzy Systems, v. 24, n. 1, p. 57-72, 2022.
2199-3211
1562-2479
10.1007/s40815-021-01115-9
2-s2.0-85110546018
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv International Journal of Fuzzy Systems
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv 57-72
dc.source.none.fl_str_mv Scopus
reponame:Repositório Institucional da UNESP
instname:Universidade Estadual Paulista (UNESP)
instacron:UNESP
instname_str Universidade Estadual Paulista (UNESP)
instacron_str UNESP
institution UNESP
reponame_str Repositório Institucional da UNESP
collection Repositório Institucional da UNESP
repository.name.fl_str_mv Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)
repository.mail.fl_str_mv
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