Multiple model switched repetitive control with application to tremor suppression
Multiple model switched repetitive control with application to tremor suppression
Tremor is a debilitating oscillation of the limbs that affects millions of people worldwide. Functional electrical stimulation (FES) can reduce tremor by artificially activating opposing muscles, and when mediated by repetitive control (RC), has potential to provide complete suppression. However, all previous RC applications have limited performance due to fatigue, spasticity and modelling error. This paper first applies gap metric analysis to derive robust stability margins for RC subject to model uncertainty. It then formulates a multiple model switched repetitive control (MMSRC) scheme with guaranteed robust performance bounds. Simulation results demonstrate that MMSRC effectively suppresses tremor with realistic levels of identification error, fatigue and spasticity, whereas conventional RC FES schemes are unstable.
3859-3864
Fang, Tingze
32b92c13-c0e9-45c8-886b-dfa9a29e4c73
Freeman, Christopher T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
2023
Fang, Tingze
32b92c13-c0e9-45c8-886b-dfa9a29e4c73
Freeman, Christopher T.
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Fang, Tingze and Freeman, Christopher T.
(2023)
Multiple model switched repetitive control with application to tremor suppression.
In 2023 American Control Conference, ACC 2023.
vol. 2023-May,
IEEE.
.
(doi:10.23919/ACC55779.2023.10156534).
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Conference or Workshop Item
(Paper)
Abstract
Tremor is a debilitating oscillation of the limbs that affects millions of people worldwide. Functional electrical stimulation (FES) can reduce tremor by artificially activating opposing muscles, and when mediated by repetitive control (RC), has potential to provide complete suppression. However, all previous RC applications have limited performance due to fatigue, spasticity and modelling error. This paper first applies gap metric analysis to derive robust stability margins for RC subject to model uncertainty. It then formulates a multiple model switched repetitive control (MMSRC) scheme with guaranteed robust performance bounds. Simulation results demonstrate that MMSRC effectively suppresses tremor with realistic levels of identification error, fatigue and spasticity, whereas conventional RC FES schemes are unstable.
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Accepted/In Press date: 20 January 2023
e-pub ahead of print date: 3 July 2023
Published date: 2023
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Publisher Copyright:
© 2023 American Automatic Control Council.
Venue - Dates:
2023 American Control Conference (ACC), , San Diego, United States, 2023-05-31 - 2023-06-02
Identifiers
Local EPrints ID: 478481
URI: http://eprints.soton.ac.uk/id/eprint/478481
ISSN: 0743-1619
PURE UUID: df036123-6af1-4a6d-8aff-e520146f872d
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Date deposited: 04 Jul 2023 16:30
Last modified: 17 Mar 2024 03:19
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Author:
Tingze Fang
Author:
Christopher T. Freeman
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