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RISE-based Anti-Windup Control of Human Lower Limb Using Electrical Stimulation

Yasunori Kawai 1, Yukimi Miyamoto 1, and Hiroyuki Kawai 2
1. Department of Electrical Engineering, National Institute of Technology, Ishikawa College, Ishikawa, Japan
2. Department of Robotics, Kanazawa Institute of Technology, Ishikawa, Japan
Abstract—This paper considers the RISE-based control with the anti-windup compensator for the human lower limb using the electrical stimulation. Since the human limb has some uncertainties, it is difficult to design a controller for the electrical stimulation. In order to attenuate the disturbances, the RISE-based control is applied to the human limb. However, the magnitude or the pulse width of the current in the electrical stimulation is limited, because the human has the pain. Hence, the saturation of the control input exists. For the input saturation, the anti-windup compensator is needed for the RISE-based control. This paper proposes the anti-windup compensator for the RISE-based control. The integral component of the controller is converged to the limit value with the first-order lag. In the simulation and the experiment, the overshoot of the knee angle using the anti-windup compensator is smaller than the RISE-based control without the anti-windup compensator. By using the anti-windup compensator, the control performance can be improved.
Index Terms—control applications, robust control, input saturation, rehabilitation

Cite: Yasunori Kawai, Yukimi Miyamoto, and Hiroyuki Kawai, "RISE-based Anti-Windup Control of Human Lower Limb Using Electrical Stimulation," International Journal of Electronics and Electrical Engineering, Vol. 7, No. 3, pp. 38-42, September 2019. doi: 10.18178/ijeee.7.3.38-42
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