Electrical stimulation tracking control for paraplegic patients using T–S fuzzy models
Autor(a) principal: | |
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Data de Publicação: | 2017 |
Outros Autores: | , , , , , |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://dx.doi.org/10.1016/j.fss.2016.06.005 http://hdl.handle.net/11449/173200 |
Resumo: | This paper presents the design and simulation results considering the use of functional electrical stimulation to control the leg position of paraplegic patients. The plant is described by a nonlinear system using Takagi–Sugeno fuzzy models and a closed-loop control is presented. A transfer function represents the mathematical model related to the muscle torque and the electrical stimulation pulse width. Considering that, during the operation, the leg position is between 0° and 60°, then two fuzzy regulators were designed, assuming that the state vector is available or using an observer when only the output is available. This design was based on the Lyapunov stability theory and Linear Matrix Inequalities (LMIs). The simulation results show that the proposed procedures are efficient and offer good results for this control problem. Finally, new conditions regarding the design of the output tracking control, using a suitable nonlinear transformation for the description of the plant in an adequate form, is presented. |
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Repositório Institucional da UNESP |
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Electrical stimulation tracking control for paraplegic patients using T–S fuzzy modelsControl of leg positionFunctional electric stimulationLMIParaplegic patientsState regulatorTracking controlT–S fuzzy modelsThis paper presents the design and simulation results considering the use of functional electrical stimulation to control the leg position of paraplegic patients. The plant is described by a nonlinear system using Takagi–Sugeno fuzzy models and a closed-loop control is presented. A transfer function represents the mathematical model related to the muscle torque and the electrical stimulation pulse width. Considering that, during the operation, the leg position is between 0° and 60°, then two fuzzy regulators were designed, assuming that the state vector is available or using an observer when only the output is available. This design was based on the Lyapunov stability theory and Linear Matrix Inequalities (LMIs). The simulation results show that the proposed procedures are efficient and offer good results for this control problem. Finally, new conditions regarding the design of the output tracking control, using a suitable nonlinear transformation for the description of the plant in an adequate form, is presented.Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)Fundação AraucáriaFundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)State University of Londrina – UEL Department of Electrical Engineering Center of Technology and UrbanismUNESP – Univ Estadual Paulista Department of Electrical Engineering, Campus of Ilha SolteiraUNESP – Univ Estadual Paulista Department of Electrical Engineering, Campus of Ilha SolteiraUniversidade Estadual de Londrina (UEL)Universidade Estadual Paulista (Unesp)Gaino, R.Covacic, M. R.Teixeira, M. C M [UNESP]Cardim, R. [UNESP]Assunção, E. [UNESP]de Carvalho, A. A. [UNESP]Sanches, M. A A [UNESP]2018-12-11T17:04:07Z2018-12-11T17:04:07Z2017-05-01info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/article1-23application/pdfhttp://dx.doi.org/10.1016/j.fss.2016.06.005Fuzzy Sets and Systems, v. 314, p. 1-23.0165-0114http://hdl.handle.net/11449/17320010.1016/j.fss.2016.06.0052-s2.0-849776650572-s2.0-84977665057.pdf50620873805714620000-0002-1072-3814Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengFuzzy Sets and Systems1,138info:eu-repo/semantics/openAccess2023-12-11T06:16:56Zoai:repositorio.unesp.br:11449/173200Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462023-12-11T06:16:56Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
Electrical stimulation tracking control for paraplegic patients using T–S fuzzy models |
title |
Electrical stimulation tracking control for paraplegic patients using T–S fuzzy models |
spellingShingle |
Electrical stimulation tracking control for paraplegic patients using T–S fuzzy models Gaino, R. Control of leg position Functional electric stimulation LMI Paraplegic patients State regulator Tracking control T–S fuzzy models |
title_short |
Electrical stimulation tracking control for paraplegic patients using T–S fuzzy models |
title_full |
Electrical stimulation tracking control for paraplegic patients using T–S fuzzy models |
title_fullStr |
Electrical stimulation tracking control for paraplegic patients using T–S fuzzy models |
title_full_unstemmed |
Electrical stimulation tracking control for paraplegic patients using T–S fuzzy models |
title_sort |
Electrical stimulation tracking control for paraplegic patients using T–S fuzzy models |
author |
Gaino, R. |
author_facet |
Gaino, R. Covacic, M. R. Teixeira, M. C M [UNESP] Cardim, R. [UNESP] Assunção, E. [UNESP] de Carvalho, A. A. [UNESP] Sanches, M. A A [UNESP] |
author_role |
author |
author2 |
Covacic, M. R. Teixeira, M. C M [UNESP] Cardim, R. [UNESP] Assunção, E. [UNESP] de Carvalho, A. A. [UNESP] Sanches, M. A A [UNESP] |
author2_role |
author author author author author author |
dc.contributor.none.fl_str_mv |
Universidade Estadual de Londrina (UEL) Universidade Estadual Paulista (Unesp) |
dc.contributor.author.fl_str_mv |
Gaino, R. Covacic, M. R. Teixeira, M. C M [UNESP] Cardim, R. [UNESP] Assunção, E. [UNESP] de Carvalho, A. A. [UNESP] Sanches, M. A A [UNESP] |
dc.subject.por.fl_str_mv |
Control of leg position Functional electric stimulation LMI Paraplegic patients State regulator Tracking control T–S fuzzy models |
topic |
Control of leg position Functional electric stimulation LMI Paraplegic patients State regulator Tracking control T–S fuzzy models |
description |
This paper presents the design and simulation results considering the use of functional electrical stimulation to control the leg position of paraplegic patients. The plant is described by a nonlinear system using Takagi–Sugeno fuzzy models and a closed-loop control is presented. A transfer function represents the mathematical model related to the muscle torque and the electrical stimulation pulse width. Considering that, during the operation, the leg position is between 0° and 60°, then two fuzzy regulators were designed, assuming that the state vector is available or using an observer when only the output is available. This design was based on the Lyapunov stability theory and Linear Matrix Inequalities (LMIs). The simulation results show that the proposed procedures are efficient and offer good results for this control problem. Finally, new conditions regarding the design of the output tracking control, using a suitable nonlinear transformation for the description of the plant in an adequate form, is presented. |
publishDate |
2017 |
dc.date.none.fl_str_mv |
2017-05-01 2018-12-11T17:04:07Z 2018-12-11T17:04:07Z |
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/10.1016/j.fss.2016.06.005 Fuzzy Sets and Systems, v. 314, p. 1-23. 0165-0114 http://hdl.handle.net/11449/173200 10.1016/j.fss.2016.06.005 2-s2.0-84977665057 2-s2.0-84977665057.pdf 5062087380571462 0000-0002-1072-3814 |
url |
http://dx.doi.org/10.1016/j.fss.2016.06.005 http://hdl.handle.net/11449/173200 |
identifier_str_mv |
Fuzzy Sets and Systems, v. 314, p. 1-23. 0165-0114 10.1016/j.fss.2016.06.005 2-s2.0-84977665057 2-s2.0-84977665057.pdf 5062087380571462 0000-0002-1072-3814 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Fuzzy Sets and Systems 1,138 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
1-23 application/pdf |
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 |
|
_version_ |
1799965250149154816 |