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Nonlinear Model-Based Control For Neuromuscular Electrical Stimulation, Ruzhou Yang
Nonlinear Model-Based Control For Neuromuscular Electrical Stimulation, Ruzhou Yang
LSU Doctoral Dissertations
Neuromuscular electrical stimulation (NMES) is a technology where skeletal muscles are externally stimulated by electrodes to help restore functionality to human limbs with motor neuron disorder. This dissertation is concerned with the model-based feedback control of the NMES quadriceps muscle group-knee joint dynamics. A class of nonlinear controllers is presented based on various levels of model structures and uncertainties. The two main control techniques used throughout this work are backstepping control and Lyapunov stability theory.
In the first control strategy, we design a model-based nonlinear control law for the system with the exactly known passive mechanical that ensures asymptotical tracking. …