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Improved Cascade Active Disturbance Rejection Control for Functional Electrical Stimulation Based Wrist Tremor Suppression System Considering the Effect of Output Noise

Tao, Changchun; Zhang, Zan; Huo, Benyan; Liu, Yanhong; Li, Jianyong; Yu, Hongnian


Changchun Tao

Zan Zhang

Benyan Huo

Yanhong Liu

Jianyong Li


The wrist tremor suppression system designed based on functional electrical stimulation technology has been welcomed by the majority of tremor patients as a non-invasive rehabilitation therapy. Due to the complex physiological structure characteristics of the wrist musculoskeletal system, it is difficult to accurately model it, and the measurement noise at the output port of the wrist tremor suppression system is difficult to avoid. These problems seriously affect the performance of tremor suppression. In order to solve the above problems, an improved linear active disturbance rejection control (LADRC) scheme is proposed based on the cascade strategy. The simulation results show that the proposed improved cascade LADRC can not only meet the requirements of system control performance against model uncertainty, but also attenuate the influence of output noise on the system, so as to effectively improve the suppression performance of tremor.

Presentation Conference Type Conference Paper (Published)
Conference Name International Conference on Intelligent Robotics and Applications
Start Date Aug 1, 2022
End Date Aug 3, 2022
Online Publication Date Aug 4, 2022
Publication Date 2022
Deposit Date Nov 7, 2022
Publisher Springer
Pages 232-244
Book Title Intelligent Robotics and Applications. ICIRA 2022
ISBN 978-3-031-13821-8
Keywords Functional electrical stimulation, Musculoskeletal model, Wrist tremor suppression system, Output noise, Improved cascade LADRC
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