Robust Adaptive Pid Control of Functional Electrical Stimulation for Drop-Foot Correction

Robust Adaptive Pid Control of Functional Electrical Stimulation for Drop-Foot Correction Publisher

Tanhaei G¹ ; Habibi H² ; Holderbaum W³ ; Ansari NN^{1, 4, 5}

Show Affiliations

1. Sports Medicine Research Center, Neuroscience Institute, Tehran University of Medical Sciences, Tehran, Iran
2. Automation and Robotics Research Group, Interdisciplinary Centre for Security, Reliability and Trust, University of Luxembourg, Luxembourg
3. School of Biological Sciences, Biomedical Engineering, University of Reading, Reading, United Kingdom
4. Research Center for War-affected People, Tehran University of Medical Sciences, Tehran, Iran
5. Department of Physiotherapy, School of Rehabilitation, Tehran University of Medical Sciences, Tehran, Iran

Source: Control Engineering Practice Published:2024

Abstract

A robust, adaptive proportional–integral–derivative (PID) control strategy is presented for controlling ankle movement using a functional electrical stimulation (FES) neuroprosthesis. The presented control strategy leverages the structurally simple PID controller. Moreover, the proposed PID controller automatically tunes its gains without requiring prior knowledge of the musculoskeletal system. Thus, in contrast to previously proposed control strategies for FES, the proposed controller does not necessitate time-consuming model identification for each patient. Additionally, the computational cost of the controller is minimized by linking the PID gains and updating only the common gain. As a result, a model-free, structurally simple, and computationally inexpensive controller is achieved, making it suitable for wearable FES-based neuroprostheses. A Lyapunov stability analysis proves uniformly ultimately bounded (UUB) tracking of the joint angle. Results from the simulated and experimental trials indicate that the proposed PID controller demonstrates high tracking accuracy and fast convergence. © 2024 Elsevier Ltd

Style	Citing Format
MLA	Tanhaei G, et al.. "Robust Adaptive Pid Control of Functional Electrical Stimulation for Drop-Foot Correction." Control Engineering Practice, vol. 153, no. , 2024, pp. -.
APA	Tanhaei G, Habibi H, Holderbaum W, Ansari NN (2024). Robust Adaptive Pid Control of Functional Electrical Stimulation for Drop-Foot Correction. Control Engineering Practice, 153(), -.
Chicago	Tanhaei G, Habibi H, Holderbaum W, Ansari NN. "Robust Adaptive Pid Control of Functional Electrical Stimulation for Drop-Foot Correction." Control Engineering Practice 153, no. (2024): -.
Harvard	Tanhaei G et al. (2024) 'Robust Adaptive Pid Control of Functional Electrical Stimulation for Drop-Foot Correction', Control Engineering Practice, 153(), pp. -.
Vancouver	Tanhaei G, Habibi H, Holderbaum W, Ansari NN. Robust Adaptive Pid Control of Functional Electrical Stimulation for Drop-Foot Correction. Control Engineering Practice. 2024;153():-.
BibTex	@article{ author = {Tanhaei G and Habibi H and Holderbaum W and Ansari NN}, title = {Robust Adaptive Pid Control of Functional Electrical Stimulation for Drop-Foot Correction}, journal = {Control Engineering Practice}, volume = {153}, number = {}, pages = {-}, year = {2024} }
RIS	TY - JOUR AU - Tanhaei G AU - Habibi H AU - Holderbaum W AU - Ansari NN TI - Robust Adaptive Pid Control of Functional Electrical Stimulation for Drop-Foot Correction JO - Control Engineering Practice VL - 153 IS - SP - EP - PY - 2024 ER -

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