Neural Dynamics for Computing Perturbed Nonlinear Equations Applied to ACP-Based Lower Limb Motion Intention Recognition

Abstract

Many complex nonlinear optimization or control issues can be transformed into the solving of time-varying nonlinear equations (TVNEs), playing a fundamental role in the control and management of complex systems. As a result, a robust and high-precision online solution method is significant for TVNE. However, there are three main challenges for handling TVNE via the existing methods: First, short-time invariance assumption frequently leveraged in the existing methods leads to lagging errors that are difficult to eliminate. Second, it is difficult in dealing with unknown noise disturbance during the solution process, which causes low solution accuracy or solution failure. Third, existing continuous-time methods are hard to be implemented on digital equipments. In this article, an anti-noise discrete-time neural dynamics (DTND) is designed and studied to overcome the above issues systematically. The theoretical analysis and numerical simulations demonstrate that the proposed model effectively eliminates the lagging errors and achieves the accurate solution of the TVNE in a noisy environment. Moreover, to verify the superior numerical computational property of the DTND model, the intention recognition of lower limbs is explored from the artificial systems, computational experiments, and parallel execution (ACP) framework. Specifically, a nonlinear artificial dynamic system (NADS) concerning the human surface electromyogram (sEMG) signals and joint information is established, which performs in parallel with the actual human lower limb physical experiments. Simulation results illustrate that, within the acceptable range of the digital computer, the controller designed by the DTND model can well guide the NADS to accurately recognize the motion intention of the human lower limb.