Improved Cascade Active Disturbance Rejection Control for Functional Electrical Stimulation Based Wrist Tremor Suppression System Considering the Effect of Output Noise
Authors: Tao, C., Zhang, Z., Huo, B., Liu, Y., Li, J. and Yu, H.
Journal: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume: 13456 LNAI
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.