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Design of a continuous fractional-order nonsingular terminal sliding mode control with time delay estimation for fes control of human knee joint

Karami, M ; Sharif University of Technology | 2021

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  1. Type of Document: Article
  2. DOI: 10.1109/ICCIA52082.2021.9403544
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2021
  4. Abstract:
  5. The design of a novel Continuous Fractional-Order Nonsingular Terminal Sliding Mode controller is the focus of this study. Time Delay Estimation technique is incorporated into the controller. The proposed method is responsible for controlling the human knee joint neuromusculoskeletal model via Functional Electrical Stimulation. A second-order nonlinear model with time-varying coefficients is used for characterizing the FES-stimulated neuromusculoskeletal model. The presence of time-varying coefficients often complicates precise control of knee joint through FES and impairs the performance of conventional methods. To this end, the TDECFONTSM has been proposed consisting of three components, a TDE component, a novel manifold based on FONTSM scheme and a fast terminal sliding mode type reaching law to account for unknown lumped dynamics, sliding phase finite-time convergence and reaching phase finite-time convergence, respectively. Finally, simulations are conducted in Simulink environment, and the controller's efficacy is shown. © 2021 IEEE
  6. Keywords:
  7. Bioelectric phenomena ; Delay control systems ; Functional electric stimulation ; Joints (anatomy) ; Sliding mode control ; Time delay ; Timing circuits ; Finite-time convergence ; Functional electri-cal stimulations ; Neuromusculoskeletal models ; Non-singular terminal sliding mode controls ; Non-singular terminal sliding modes ; Terminal sliding mode ; Time delay estimation ; Time-varying coefficient ; Controllers
  8. Source: 7th International Conference on Control, Instrumentation and Automation, ICCIA 2021, 23 February 2021 through 24 February 2021 ; 2021 ; 9780738124056 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/9403544