NDLI: Neuro-Sliding Mode Control with Modular Models for Control of Knee-joint Angle Using Quadriceps Electrical Stimulation

Content Provider	IEEE Xplore Digital Library
Author	Ajoudani, A. Erfanian, A.
Copyright Year	2007
Description	Author affiliation: Iran Univ. of Sci. & Technol., Tehran (Ajoudani, A.; Erfanian, A.)
Abstract	In this paper, we propose a control methodology which is based on synergistic combination of a single-neuron controller with sliding mode control (SMC) for control of knee- joint position in paraplegic subjects with quadriceps stimulation. The control law will be switched from the sliding mode control to neural control, when the state trajectory of system enters in some boundary layer around the sliding surface. The main drawback of the standard sliding modes is mostly related to the so-called chattering caused by the high- frequency control switching. The value of switching gain depends on the bounds of system uncertainties. The system with large uncertainties needs to use a higher switching gain. This will, however, result in the high-frequency control switching and chattering across the sliding surface. To avoid such a condition, it is necessary to decrease the system uncertainty. To decrease the uncertainty, an accurate model of the system is required. For this purpose, we present a modular approach to modeling the knee-joint dynamics. Extensive experiments on healthy and paraplegic subjects are provided to demonstrate the robustness, stability and tracking accuracy of the neuro-SMC. The experimental results show that the neuro-SMC provides excellent tracking control for different reference trajectories and could generate control signals to compensate the muscle fatigue.
Starting Page	2424
Ending Page	2427
File Size	413712
Page Count	4
File Format	PDF
ISBN	9781424407873
ISSN	1557170X
DOI	10.1109/IEMBS.2007.4352817
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-08-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Electrical stimulation Sliding mode control Uncertainty Control systems Robust stability Frequency control Trajectory Signal generators Muscles Fatigue
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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