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

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MetadadosDescriçãoIdioma
Autor(es): dc.contributorFederal University of Technology - Paraná (UTFPR)-
Autor(es): dc.contributorScience and Technology of Paraná (IFPR)-
Autor(es): dc.contributorUniversidade Estadual Paulista (UNESP)-
Autor(es): dc.creatorNunes, Willian Ricardo Bispo Murbak-
Autor(es): dc.creatorAlves, Uiliam Nelson Lendzion Tomaz-
Autor(es): dc.creatorSanches, Marcelo Augusto Assunção-
Autor(es): dc.creatorTeixeira, Marcelo Carvalho Minhoto-
Autor(es): dc.creatorde Carvalho, Aparecido Augusto-
Data de aceite: dc.date.accessioned2025-08-21T15:21:03Z-
Data de disponibilização: dc.date.available2025-08-21T15:21:03Z-
Data de envio: dc.date.issued2022-05-01-
Data de envio: dc.date.issued2022-05-01-
Data de envio: dc.date.issued2022-01-31-
Fonte completa do material: dc.identifierhttp://dx.doi.org/10.1007/s40815-021-01115-9-
Fonte completa do material: dc.identifierhttp://hdl.handle.net/11449/233279-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/11449/233279-
Descrição: dc.descriptionElectrically 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.-
Descrição: dc.descriptionConselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)-
Descrição: dc.descriptionCoordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)-
Descrição: dc.descriptionControl and Automation Laboratory Federal University of Technology - Paraná (UTFPR), Marcilio Dias St., 635., PR-
Descrição: dc.descriptionDepartment of Control and Automation Engineering Federal Institute of Education Science and Technology of Paraná (IFPR), Dr. Tito Ave., 801, PR-
Descrição: dc.descriptionInstrumentation & Biomedical Engineering Laboratory São Paulo State University (UNESP), Prof. José Carlos Rossi Ave., SP-
Descrição: dc.descriptionControl Research Laboratory São Paulo State University (UNESP), Prof. José Carlos Rossi Ave., SP-
Descrição: dc.descriptionInstrumentation & Biomedical Engineering Laboratory São Paulo State University (UNESP), Prof. José Carlos Rossi Ave., SP-
Descrição: dc.descriptionControl Research Laboratory São Paulo State University (UNESP), Prof. José Carlos Rossi Ave., SP-
Descrição: dc.descriptionCAPES: 001-
Formato: dc.format57-72-
Idioma: dc.languageen-
Relação: dc.relationInternational Journal of Fuzzy Systems-
???dc.source???: dc.sourceScopus-
Palavras-chave: dc.subjectFunctional electrical stimulation (FES)-
Palavras-chave: dc.subjectLinear matrix inequalities (LMIs)-
Palavras-chave: dc.subjectRehabilitation-
Palavras-chave: dc.subjectRobust switched control-
Palavras-chave: dc.subjectUncertain fuzzy models-
Palavras-chave: dc.subjectUncertain nonlinear system-
Título: dc.titleElectrically Stimulated Lower Limb using a Takagi-Sugeno Fuzzy Model and Robust Switched Controller Subject to Actuator Saturation and Fault under Nonideal Conditions-
Tipo de arquivo: dc.typelivro digital-
Aparece nas coleções:Repositório Institucional - Unesp

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