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

Abstract

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.

Citation

Tao, C., Zhang, Z., Huo, B., Liu, Y., Li, J., & Yu, H. (2022, August). Improved Cascade Active Disturbance Rejection Control for Functional Electrical Stimulation Based Wrist Tremor Suppression System Considering the Effect of Output Noise. Presented at International Conference on Intelligent Robotics and Applications, Harbin, China

• 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
• DOI: https://doi.org/10.1007/978-3-031-13822-5_21
• Keywords: Functional electrical stimulation, Musculoskeletal model, Wrist tremor suppression system, Output noise, Improved cascade LADRC
• Public URL: http://researchrepository.napier.ac.uk/Output/2894744