Nonlinear robust control of functional electrical stimulation system for paraplegia

The study was directed towards enhancing Functional Electrical Stimulation (FES) for sit-to-stand movement restoration in paraplegia subjects. The scarcity of FES assistive devices was due to the inability of the developed equipment to attain clinical acceptance. Applications of control systems have...

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Main Author:	Ahmed, Mohammed
Format:	Thesis
Language:	English English English
Published:	2019
Subjects:	TL500-777 Aeronautics Aeronautical engineering
Online Access:	http://eprints.uthm.edu.my/77/1/24p%20MOHAMMED%20AHMED.pdf http://eprints.uthm.edu.my/77/2/MOHAMMED%20AHMED%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/77/3/MOHAMMED%20AHMED%20WATERMARK.pdf
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spelling	my-uthm-ep.772021-06-22T03:51:33Z Nonlinear robust control of functional electrical stimulation system for paraplegia 2019-01 Ahmed, Mohammed TL500-777 Aeronautics. Aeronautical engineering The study was directed towards enhancing Functional Electrical Stimulation (FES) for sit-to-stand movement restoration in paraplegia subjects. The scarcity of FES assistive devices was due to the inability of the developed equipment to attain clinical acceptance. Applications of control systems have shown fruitful results. And based on the literature, further improvements in model, trajectory and control systems are needed. Model with a higher level of accuracy and continuous as well as bump-free trajectories are essential ingredients for better control systems. The control systems can be enhanced by giving considering to changes in mass of the subject, disturbance rejection and stability. Hence, the comprehensive control scheme is necessary for this application as well as a better model and trajectory. In modelling an additional joint has been considered to improve the accuracy. In trajectory planning, the six-order polynomial has been used to refine the desired trajectory. The comprehensive control systems have been designed with consideration of robustness, disturbance rejection, and stability. Three nonlinear control approaches have been investigated; the Sliding Mode Control (SMC), Feedback Linearisation Control (FLC), and Back-Stepping Control (BSC). Results reveal improvements in the accuracy of the kinematic model by 24%, and the dynamic model by 47%. The trajectory planning parameters are continuous, and not susceptible to jerks or spikes. Execution time enhanced by 11%, the upper and lower terminal velocities improved by 16.9% and 20.9% respectively. The system response without disturbance shows good results with the SMC, FLC, and BSC. Revelations by robustness examination also maintain remarkable enhancements in the parameters with both 53% and 126% mass. The results for disturbance rejection examinations with fatigue, spasm, tremor, and combined disturbance effects showed sustenance of refinement in the response parameters. Therefore, indicating improvements despite the changes to the system. The BSC showed the best performance, followed by the FLC, and the SMC. Hence, the BSC is recommended for such systems. 2019-01 Thesis http://eprints.uthm.edu.my/77/ http://eprints.uthm.edu.my/77/1/24p%20MOHAMMED%20AHMED.pdf text en public http://eprints.uthm.edu.my/77/2/MOHAMMED%20AHMED%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/77/3/MOHAMMED%20AHMED%20WATERMARK.pdf text en staffonly phd doctoral Universiti Tun Hussein Onn Malaysia Fakulti Kejuruteraan Elektrik dan Elektronik
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TL500-777 Aeronautics Aeronautical engineering
spellingShingle	TL500-777 Aeronautics Aeronautical engineering Ahmed, Mohammed Nonlinear robust control of functional electrical stimulation system for paraplegia
description	The study was directed towards enhancing Functional Electrical Stimulation (FES) for sit-to-stand movement restoration in paraplegia subjects. The scarcity of FES assistive devices was due to the inability of the developed equipment to attain clinical acceptance. Applications of control systems have shown fruitful results. And based on the literature, further improvements in model, trajectory and control systems are needed. Model with a higher level of accuracy and continuous as well as bump-free trajectories are essential ingredients for better control systems. The control systems can be enhanced by giving considering to changes in mass of the subject, disturbance rejection and stability. Hence, the comprehensive control scheme is necessary for this application as well as a better model and trajectory. In modelling an additional joint has been considered to improve the accuracy. In trajectory planning, the six-order polynomial has been used to refine the desired trajectory. The comprehensive control systems have been designed with consideration of robustness, disturbance rejection, and stability. Three nonlinear control approaches have been investigated; the Sliding Mode Control (SMC), Feedback Linearisation Control (FLC), and Back-Stepping Control (BSC). Results reveal improvements in the accuracy of the kinematic model by 24%, and the dynamic model by 47%. The trajectory planning parameters are continuous, and not susceptible to jerks or spikes. Execution time enhanced by 11%, the upper and lower terminal velocities improved by 16.9% and 20.9% respectively. The system response without disturbance shows good results with the SMC, FLC, and BSC. Revelations by robustness examination also maintain remarkable enhancements in the parameters with both 53% and 126% mass. The results for disturbance rejection examinations with fatigue, spasm, tremor, and combined disturbance effects showed sustenance of refinement in the response parameters. Therefore, indicating improvements despite the changes to the system. The BSC showed the best performance, followed by the FLC, and the SMC. Hence, the BSC is recommended for such systems.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Ahmed, Mohammed
author_facet	Ahmed, Mohammed
author_sort	Ahmed, Mohammed
title	Nonlinear robust control of functional electrical stimulation system for paraplegia
title_short	Nonlinear robust control of functional electrical stimulation system for paraplegia
title_full	Nonlinear robust control of functional electrical stimulation system for paraplegia
title_fullStr	Nonlinear robust control of functional electrical stimulation system for paraplegia
title_full_unstemmed	Nonlinear robust control of functional electrical stimulation system for paraplegia
title_sort	nonlinear robust control of functional electrical stimulation system for paraplegia
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Kejuruteraan Elektrik dan Elektronik
publishDate	2019
url	http://eprints.uthm.edu.my/77/1/24p%20MOHAMMED%20AHMED.pdf http://eprints.uthm.edu.my/77/2/MOHAMMED%20AHMED%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/77/3/MOHAMMED%20AHMED%20WATERMARK.pdf
_version_	1747830523842002944

Nonlinear robust control of functional electrical stimulation system for paraplegia

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