TY - GEN
T1 - Adaptive control of the nonlinearly parameterized limb dynamics with application to neuromuscular electrical stimulation
AU - Yang, Ruzhou
AU - De Queiroz, Marcio
N1 - Publisher Copyright:
© 2016 American Automatic Control Council (AACC).
PY - 2016/7/28
Y1 - 2016/7/28
N2 - This paper considers the lower leg limb motion tracking problem that is inherent to neuromuscular electrical stimulation systems. We propose an adaptive controller that compensates for the unknown parameters that appear nonlinearly in the mechanical dynamics. This is accomplished by exploiting the Lipschitzian properties of nonlinearly parameterized functions. The resulting discontinuous control law ensures asymptotic tracking for the lower leg limb angular position without violating its physical limits. Simulations demonstrate the control performance.
AB - This paper considers the lower leg limb motion tracking problem that is inherent to neuromuscular electrical stimulation systems. We propose an adaptive controller that compensates for the unknown parameters that appear nonlinearly in the mechanical dynamics. This is accomplished by exploiting the Lipschitzian properties of nonlinearly parameterized functions. The resulting discontinuous control law ensures asymptotic tracking for the lower leg limb angular position without violating its physical limits. Simulations demonstrate the control performance.
UR - https://www.scopus.com/pages/publications/84992025971
U2 - 10.1109/ACC.2016.7526126
DO - 10.1109/ACC.2016.7526126
M3 - Conference contribution
AN - SCOPUS:84992025971
T3 - Proceedings of the American Control Conference
SP - 4883
EP - 4888
BT - 2016 American Control Conference, ACC 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 American Control Conference, ACC 2016
Y2 - 6 July 2016 through 8 July 2016
ER -