Abstract
Presented is an assessment of the effects of changes in global human for the regulation of Functional Electrical Stimulation (FES) revived sit-to-stand (STS) using three nonlinear control methods. The techniques are the Sliding Mode Control (SMC), Feedback Linearized Control (FLC), and Back Stepping Control Approach. Literature indicates the necessity of improving the system of which applications control has shown such ability. The analytical STS model uses the four segments. Six order polynomial was harnessed for trajectory planning. The work was aimed at relaxing the effect of the variation in human masses such that there will be no need changing parameters when using the device for different subjects. The results indicated the ability of the control schemes to curtail the perturbations and to regulate the system with minimal errors while maintaining the stability as well. Responses closeness to the desired transition trajectories during the movement and without any disturbance are evident from the results obtained. It was also accomplished within the recommended settings of the stimulation parameters with high levels of robustness, which are highly greater than that of a 2% error margin usually considered. Therefore, indicating the likelihood of the methods for the FES induced STS system for greater performance with the BSC being the best.
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Ahmed, M., Huq, M.S., Ibrahim, B.S.K.K., Tahir, N.M., Ahmed, Z., Elhassan, G. (2022). A Comparative Study on Nonlinear Control of Induced Sit-to-Stand in Paraplegia with Human Mass Variation. In: Ab. Nasir, A.F., Ibrahim, A.N., Ishak, I., Mat Yahya, N., Zakaria, M.A., P. P. Abdul Majeed, A. (eds) Recent Trends in Mechatronics Towards Industry 4.0. Lecture Notes in Electrical Engineering, vol 730. Springer, Singapore. https://doi.org/10.1007/978-981-33-4597-3_38
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DOI: https://doi.org/10.1007/978-981-33-4597-3_38
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