Cadence control of stationary cycling induced by switched functional electrical stimulation control

M. J. Bellman, Teng-Hu Cheng, R. J. Downey, W. E. Dixon

Research output: Contribution to journalConference article

12 Scopus citations

Abstract

Cycling induced by functional electrical stimulation (FES) is an effective means for exercise and rehabilitation of individuals suffering from neurological disorders such as stroke, spinal cord injury, and cerebral palsy. To achieve FES-cycling, potential fields are alternately applied across muscle groups in the lower extremities. Alternating stimulation of various muscle groups according to the crank position makes the FES-cycling system a switched system with autonomous state-dependent switching. This paper examines FES-cycling from a switched systems analysis perspective. Specifically, a switched sliding mode controller is developed to yield approximate tracking of a desired cadence despite an uncertain, nonlinear cycle-rider model. Cadence tracking is proven via a common Lyapunov-like function and experimental results are provided to demonstrate the performance of the switched controller.

Original languageEnglish
Article number7040370
Pages (from-to)6260-6265
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2015-February
Issue numberFebruary
DOIs
StatePublished - 1 Jan 2014
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: 15 Dec 201417 Dec 2014

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