This work is focused on the design of closed-loop controllers for FES-supported standing up and sitting down. This task is a difficult one, due to the lack of stability of the considered system and to the highly nonlinear dynamic behaviour. In this paper, a control strategy based on two nested control loops is presented. The inner loop is based on a PID controller, designed on the basis of a set of local models for the considered plant. Each model represents the behaviour of the system about a given operating point in closed loop. The outer loop is also based on a PID controller designed using the VRFT strategy, that allows a fast and easy tuning of the controller starting from a single I/O data set. Finally, a nonlinear control law has been implemented exploiting the features of the VRFT method. Simulation results show that the proposed technique is effective in controlling a paraplegic patient in FES-based standing up and sitting down.

(2003). Closed loop control of FES supported standing up and sitting down using virtual reference feedback tuning: a simulation study . Retrieved from http://hdl.handle.net/10446/86576

Closed loop control of FES supported standing up and sitting down using virtual reference feedback tuning: a simulation study

PREVIDI, Fabio;SAVARESI, Sergio Matteo;
2003-01-01

Abstract

This work is focused on the design of closed-loop controllers for FES-supported standing up and sitting down. This task is a difficult one, due to the lack of stability of the considered system and to the highly nonlinear dynamic behaviour. In this paper, a control strategy based on two nested control loops is presented. The inner loop is based on a PID controller, designed on the basis of a set of local models for the considered plant. Each model represents the behaviour of the system about a given operating point in closed loop. The outer loop is also based on a PID controller designed using the VRFT strategy, that allows a fast and easy tuning of the controller starting from a single I/O data set. Finally, a nonlinear control law has been implemented exploiting the features of the VRFT method. Simulation results show that the proposed technique is effective in controlling a paraplegic patient in FES-based standing up and sitting down.
2003
Previdi, Fabio; Ferrarin, M.; Savaresi, Sergio Matteo; Bittanti, Sergio
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10446/86576
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