Abstract
Abstract For an individual affected by a lower limb movement disorder, motorized functional electrical stimulation (FES) induced cycling provides a means of functional restoration and therapeutic exercise. However, there exists a potentially destabilizing input delay between the application (and removal) of the stimulation and the production of muscle force. Exacerbating the problem, fatigue results in decreased force production and a time-varying input delay. Moreover, switching between FES and motor control can be destabilizing. This paper implements a time-varying estimate of the delay and develops a control method and switching conditions to account for the time-varying input delayed response of muscle. The controller is shown to yield semi-global uniformly ultimately bounded tracking for the uncertain switched nonlinear dynamic system with input delays.
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