Predictive control based on nonlinear observer for muscular force and fatigue model

Abstract : The Functional Electrical Stimulation (FES) is used in the case of neurological disorders (paralyzed muscles) or the muscle reinforcement (sportsmen). A recent model was proposed coupling a force model and a fatigue model. Based on the specific structure of the model, we present a predictive control scheme using online estimation of the fatigue variables with a nonlinear observer. It is numerically tested in a preliminary study.
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Toufik Bakir, Bernard Bonnard, Sami Othman. Predictive control based on nonlinear observer for muscular force and fatigue model. ACC 2018 - The 2018 American Control Conference, Jun 2018, Milwaukee, United States. pp.2157-2162, ⟨10.23919/ACC.2018.8430962⟩. ⟨hal-01591187v2⟩

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