Hybrid Dynamical System Model and Robust Control of a Hybrid Neuroprosthesis Under Fatigue Based Switching

被引：0
|
作者：
Sheng, Zhiyu [1 ]
Molazadeh, Vahidreza [1 ]
Sharma, Nitin [1 ]
机构：
[1] Univ Pittsburgh, Dept Mech Engn & Mat Sci, Pittsburgh, PA 15261 USA
来源：
2018 ANNUAL AMERICAN CONTROL CONFERENCE (ACC) | 2018年
基金：
美国国家科学基金会;
关键词：
WALKING;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A hybrid neuroprosthesis controller that integrates a modified Pll-based robust controller to compensate for electromechanical delay during functional electrical stimulation and a variable structure controller to control a powered exoskeleton is developed. A hybrid dynamical systems approach is used to model the hybrid neuroprosthesis control and prove the stability. Simulation results demonstrate the model and the control design during a standing task.
引用
收藏
页码：1446 / 1451
页数：6
相关论文
共 50 条
  • [1] Formulation of Fatigue Dynamics as Hybrid Dynamical System for Model Predictive Control
    Loew, Stefan
    Obradovic, Dragan
    IFAC PAPERSONLINE, 2020, 53 (02): : 6616 - 6623
  • [2] A hybrid dynamical system with robust switching control by action dependent heuristic dynamic programming
    Hanselmann, T
    Zaknich, A
    Noakes, L
    Savkin, A
    2004 IEEE INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-4, PROCEEDINGS, 2004, : 1799 - 1804
  • [3] Model-Based Dynamic Control Allocation in a Hybrid Neuroprosthesis
    Kirsch, Nicholas A.
    Bao, Xuefeng
    Alibeji, Naji A.
    Dicianno, Brad E.
    Sharma, Nitin
    IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 2018, 26 (01) : 224 - 232
  • [4] MODEL PREDICTIVE CONTROL-BASED DYNAMIC CONTROL ALLOCATION IN A HYBRID NEUROPROSTHESIS
    Kirsch, Nicholas A.
    Alibeji, Naji A.
    Sharma, Nitin
    7TH ANNUAL DYNAMIC SYSTEMS AND CONTROL CONFERENCE, 2014, VOL 3, 2014,
  • [5] Robust Control Barrier Functions for Safety Using a Hybrid Neuroprosthesis
    Lambeth, Krysten
    Singh, Mayank
    Sharma, Nitin
    2023 AMERICAN CONTROL CONFERENCE, ACC, 2023, : 54 - 59
  • [6] A Robust Iterative Learning Switching Controller for following Virtual Constraints: Application to a Hybrid Neuroprosthesis
    Molazadeh, Vahidreza
    Sheng, Zhiyu
    Bao, Xuefeng
    Sharma, Nitin
    IFAC PAPERSONLINE, 2019, 51 (34): : 28 - 33
  • [7] Hybrid dynamical systems: Robust stability and control
    Cai Chaohong
    Goebel, Rafal
    Sanfelice, Ricardo G.
    Teel, Andrew R.
    PROCEEDINGS OF THE 26TH CHINESE CONTROL CONFERENCE, VOL 1, 2007, : 29 - +
  • [8] HYBRID ASSISTIVE SYSTEM - THE MOTOR NEUROPROSTHESIS
    POPOVIC, D
    TOMOVIC, R
    SCHWIRTLICH, L
    IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 1989, 36 (07) : 729 - 737
  • [9] Multiple Lyapunov based robust control for the Nonlinear Hybrid Dynamical Systems
    Shah, Ankit K.
    Adhyaru, Dipak M.
    PROCEEDINGS OF THE 10TH INTERNATIONAL CONFERENCE ON INTELLIGENT SYSTEMS AND CONTROL (ISCO'16), 2016,
  • [10] Optimal control of switching surfaces in hybrid dynamical systems
    Boccadoro, M
    Wardi, Y
    Egerstedt, M
    Verriest, E
    DISCRETE EVENT DYNAMIC SYSTEMS-THEORY AND APPLICATIONS, 2005, 15 (04): : 433 - 448
12345