Robust adaptive H∞ control design for heart rate regulation during rhythmic exercises of unknown type

Abstract

SummaryThe aim of the study is to regulate the human heart rate (HR) response to a predefined reference profile during aerobic activities of unknown type. A novel feature of the designed control system is obtained to generate the desired rhythmic movements, which is required to achieve the target HR profile during aerobic activities of unknown type. These rhythmic movements or frequency of locomotion is known as the exercise rate (ER) and is quantified as a fundamental measure of exercise intensity. The relationship between ER and HR is modeled by using a linear time‐varying system. The parameters of the model are estimated using a Kalman filter. Based on this model, a robust adaptive H∞ controller is designed. The H∞ controller generates target ER (ERT) corresponding to target HR (HRT). This ERT is communicated to the exercising subject by using a human actuating system (HAS). The role of HAS is to achieve ERT. To validate the performance of the system, it is tested on six healthy subjects during rowing and cycling exercises. The results demonstrate that the designed control system can regulate HR at a given profile with an average root mean square error of 3.1857 bpm and 2.9396 bpm for rowing and cycling, respectively. The developed system can be used for designing an optimal exercising protocol for individuals.