Abstract
In this manuscript, a method for designing Takagi-Sugeno (T-S) fuzzy discrete-time regulators based on linear matrix inequalities (LMIs) is proposed to control the variation of the knee joint angle movement of paraplegic patients through electrical stimulation. A simple method for discretizing nonlinear systems described by T-S fuzzy models is used. The control strategy is applied for a paraplegic volunteer and a healthy one. The results and analysis show that the controlled system attended the design specifications for small values of the sample time considered for the discretization.
Highlights
Electrical stimulation has been used in conjunction with control systems to control the movement of the legs of paraplegic patients
In [4], [5], and [6], function electrical stimulation and continuous-time T-S fuzzy models were for the first time used to study and simulate the control of leg position for a paraplegic patient [2]
The concept of parallel distributed compensation (PDC) [8] is used in the design of fuzzy regulators to stabilize nonlinear systems described by fuzzy models
Summary
Electrical stimulation has been used in conjunction with control systems to control the movement of the legs of paraplegic patients. In [4], [5], and [6], function electrical stimulation and continuous-time T-S fuzzy models were for the first time used to study and simulate the control of leg position for a paraplegic patient [2]. In Theorem 1, the validity of the discretization methodology with T-S fuzzy models to design discrete-time controllers for the rehabilitation of paraplegic patients using electrical stimulation is shown in a way more simplified than in [15]. This method and its analysis with simulations show the validity. The implemented fuzzy logic has a good response to the idealized design [4]
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