In the present paper, a gain scheduling approach is exploited to control the movement of the knee joint in paraplegic patients, who have recovered partial functionality of muscles through Functional Electrical Stimulation. In particular, first a NARX polynomial model is developed, by using data collected during a stimulation session on a patient; to this aim a new algorithm for structural identification is introduced. Then, the design of a standard LQ regulator is presented. Starting from the LQ control scheme a gain scheduling controller is derived so that the linearization property holds. Furthermore, a performance comparison between the presented gain scheduling controller and the LQ regulator is performed by means of simulations.

(1999). Application of a gain scheduling control strategy to artificial stimulation of the quadriceps muscle . Retrieved from http://hdl.handle.net/10446/86038

Application of a gain scheduling control strategy to artificial stimulation of the quadriceps muscle

Previdi, F.;Carpanzano, E.;
1999

Abstract

In the present paper, a gain scheduling approach is exploited to control the movement of the knee joint in paraplegic patients, who have recovered partial functionality of muscles through Functional Electrical Stimulation. In particular, first a NARX polynomial model is developed, by using data collected during a stimulation session on a patient; to this aim a new algorithm for structural identification is introduced. Then, the design of a standard LQ regulator is presented. Starting from the LQ control scheme a gain scheduling controller is derived so that the linearization property holds. Furthermore, a performance comparison between the presented gain scheduling controller and the LQ regulator is performed by means of simulations.
Previdi, F.; Carpanzano, E.; Cirillo, C.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10446/86038
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