H∞ High-Order Repetitive Control for Functional Electrical Stimulation in Intention Tremor Suppression

Authors: Zhang, Z., Huo, B., Liu, Y., Dong, A., Yu, H.

Journal: IEEE Transactions on Automation Science and Engineering

Publication Date: 01/01/2025

Volume: 22

Pages: 5648-5660

eISSN: 1558-3783

ISSN: 1545-5955

DOI: 10.1109/TASE.2024.3427638

Abstract:

Intention tremor is a rhythmic and involuntary limb swing movement that causes significant inconvenience to the daily life of patients. Repetitive control is suitable for functional-electrical-stimulation-based intention tremor suppression because it can significantly attenuate the periodic signals. However, the performance of the repetitive controller may be weakened in tremor suppression due to uncertainties in the dynamics of the musculoskeletal model and the tremor frequency. In this paper, we propose an advanced methodology for tremor suppression by combining H∞ control with high-order repetitive control. The proposed controller can not only guarantee the robust stability of the system subjected to model uncertainty, but also effectively suppress tremors with varying frequency. Comparative experiments on the unimpaired subjects and intention tremor patients were carried out to verify the effectiveness of the proposed method. The experimental statistical analysis results show that the proposed H∞ high-order repetitive controller can suppress tremors by up to 84.97%, which is about 11% and 31% higher than the single memory loop repetitive controller and the traditional filter-based controller, respectively.

Source: Scopus