Concept and Takagi-Sugeno descriptor tracking controller design of a closed muscular chain lower-limb rehabilitation device

IET Control Theory and Applications

Volumn 4, Issue 8, 2010, Pages 1407-1420

  Seddiki, L ^a,b   Guelton, K ^a   Zaytoon, J ^a  

^a UNIVERSITÉ DE REIMS CHAMPAGNE ARDENNE   (France)

^b UNIVERSITÉ PARIS 8   (France)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL STRUCTURE; DESCRIPTOR MODELS; DESCRIPTORS; EXTERNAL DISTURBANCES; FUZZY LYAPUNOV FUNCTIONS; ISOKINETIC MOVEMENT; LIMB REHABILITATION; NON-LINEAR; REHABILITATION DEVICES; SIMULATION RESULT; STABILITY CONDITION; SYSTEM'S DYNAMICS; TAKAGI-SUGENO; TRACKING CONTROLLER; TRAJECTORY GENERATOR; VOLUNTARY CONTROLS;

LINEAR MATRIX INEQUALITIES; LYAPUNOV FUNCTIONS; TRAJECTORIES;

CONTROLLERS;

EID: 77955823463     PISSN: 17518644     EISSN: 17518652     Source Type: Journal    
DOI: 10.1049/iet-cta.2009.0269     Document Type: Article

References (43)

1. Dallaway, J.L., Jackson, R.D., and Timmers, P.H.A.: ' Rehabilitation robotics in Europe ', IEEE Trans. Rehab. Engng., 1995, 3, (1), p. 35-45
2. Riener, R.: ' Control of robots for rehabilitation ', Proc. EUROCON, Belgrade, November, 2005, p. 33-36
3. Jezernik, S., Colombo, G., and Morari, M.: ' Automatic gait-pattern adaptation algorithms for rehabilitation with a 4-dof robotics orthosis ', IEEE Trans. Robot. Autom., 2004, 20, (3), p. 574-582 1042-296X
4. Moughamir, S., Zaytoon, J., Manamanni, N., and Afilal, L.: ' A system approach for control development of lower-limbs training machines ', Control Engng. Pract., 2002, 10, p. 287-299
5. Lutz, G.E., Palmitier, R.A., and An, K.N.: ' Comparison of tibio-femoral joint forces during open kinetic chain and closed kinetic chain exercises ', J. Bone Joint Surg., 1993, 75A, p. 732-739
6. Steinkamp, L.A., Dillingham, M.F., and Markel, M.D.: ' Biomechanical consideration in patellofemoral joint rehabilitation ', Am. J. Sports Med., 1993, 21, (3), p. 438-444
7. Mickkelsen, C., Werner, S., and Eriksson, E.: ' Closed kinetic chain alone compared to combined open and closed kinetic chain exercises for quadriceps strengthening after anterior cruciate ligament reconstruction with respect to return to sports: a perspective matched follow-up study ', Knee Surg. Sports Traumatol., Arthrosc., 2000, 8, p. 337-342
8. TM ', Proc. IEEE EMBS, Pisa, Italy, 2006, p. 359-364
9. Anaes: 'Les appareils d'isocinétisme en évaluation et en rééducation musculaire: intérêt et utilisation ', Agence National d'accréditation et d'évaluation en santé, February, 2001
10. Patterson, C., Raschner, C., Platzer, H.P., and Puehringer, R.: ' A comparison of different tests to assess lower extremity left/right strength imbalances ', Isokin. Exer. Sci., 2006, 14, (2), p. 136-137
11. Petermann, J., Klein, P., Behrens, A., Gotzen, L., and Schierl, M.: ' Efficacy of linear isokinetic versus dynamic auxotonic muscle training for the shoulder - a prospective, randomised, controlled study in men ', Isokin. Exer. Sci., 2000, 10, p. 39-40
12. Colombo, G., Schreier, R., Mayr, A., Plewa, H., and Rupp, R.: ' Novel tilt table with integrated robotic stepping mechanism: design principles and clinical application ', Proc. 9th IEEE Int. Conf. on Rehabilitation Robotics, Chicago, USA, 2005, p. 227-230
13. Seddiki, L., Guelton, K., Mansouri, B., and Zaytoon, J.: ' H-infinity Takagi-Sugeno fuzzy control of a lower limbs rehabilitation device ', Proc. IEEE Int. Conf. on Control Application, Munich, Germany, October, 2006, p. 927-932
14. ∞d'une machine de rééducation des members inférieurs ', J. Eur. Syst. Autom., 2007, 41, (2), p. 199-218
15. Seddiki, L., Guelton, K., Leteneur, S., and Zaytoon, J.: ' Concept and simulation of "Sys-Rééduc": Closed muscular chain lower limbs rehabilitation device ', Proc. IEEE Int. Conf. on Rehabilitation Robotics, Noordwijk, Netherlands, June, 2007, p. 543-549
16. Dvir, Z.: ' Isokinetics: muscle testing, interpretation, and clinical applications ', 2nd (Churchill Livingstone Eds, Elsevier limited, 2003)
17. Takagi, T., and Sugeno, M.: ' Fuzzy identification of systems and its applications to modeling and control ', IEEE Trans. Syst. Man. Cybern., 1995, 15, p. 116-132 0018-9472
18. Tanaka, K., and Wang, H.O.: ' Fuzzy control systems design and analysis: a linear matrix inequality approach ', (Wiley/Wiley-Interscience, New York, 2001)
19. Sala, A., Guerra, T.M., and Babuska, R.: ' Perspectives of fuzzy systems and control ', Fuzzy Sets Syst., 2005, 153, (3), p. 432-444 0165-0114
20. Zerar, M., Guelton, K., and Manamanni, N.: ' Linear fractional transformation based H-infinity output stabilization for Takagi-Sugeno fuzzy models ', Mediterr. J. Meas. Control, 2008, 4, (3), p. 111-121
21. Guelton, K., Delprat, S., and Guerra, T.M.: ' An alternative to inverse dynamics joint torques estimation in human stance based on a Takagi-Sugeno unknown input observer in the descriptor form ', Control Engng. Pract., 2008, 16, (12), p. 1414-1426
22. Schulte, H., and Guelton, K.: ' Descriptor modelling towards control of a two link pneumatic robot manipulator: a T-S multimodel approach ', Nonlinear Anal. Hybrid Syst., 2009, 3, (2), p. 124-132
23. Tanaka, K., Hori, T., and Wang, H.O.: ' A multiple Lyapunov function approach to stabilization of fuzzy control systems ', IEEE Trans. Fuzzy Syst., 2003, 11, (4), p. 582-589 1063-6706
24. Guerra, T.M., and Vermeiren, L.: ' LMI based relaxed nonquadratic stabilizations for non-linear systems in the Takagi-Sugeno's form ', Automatica, 2004, 40, (5), p. 823-829 0005-1098
25. Feng, G.: ' A survey on analysis and design of model-based fuzzy control systems ', IEEE Trans Fuzzy Syst., 2006, 14, (5), p. 676-697 1063-6706
26. Rhee, B.J., and Won, S.: ' A new Lyapunov function approach for a Takagi-Sugeno fuzzy control system design ', Fuzzy Sets Syst., 2006, 157, (9), p. 1211-1228 0165-0114
27. Tseng, S., Chen, B.S., and Uang, H.J.: ' Fuzzy tracking control design for nonlinear dynamic systems via T-S fuzzy model ', IEEE Trans. Fuzzy Syst., 2001, 9, (3), p. 381-392 1063-6706
28. ∞criterion for uncertain and disturbed T-S models ', Inf. Sci., 2009, 179, (4), p. 446-457
29. Taniguchi, T., Tanaka, K., and Wang, H.O.: ' Fuzzy descriptor systems and nonlinear model following control ', IEEE Trans. Fuzzy Syst., 1998, 8, (4), p. 442-452 1063-6706
30. Bouarar, T., Guelton, K., and Manamanni, N.: ' Stabilization of uncertain Takagi-Sugeno descriptors: a fuzzy Lyapunov approach ', Proc. 16th IEEE Mediterranean Conf. Control and Automation, Ajaccio, France, June, 2008, p. 1616-1621
31. Luenberger, D.G.: ' Dynamic equation in descriptor form ', IEEE Trans. Autom. Control, 1977, AC-22, p. 312-321 0018-9286
32. Dai, L.: ' Singular control systems ', (Springer, Berlin, 1989)
33. Marx, B., Koenig, D., and Ragot, J.: ' Design of observers for Takagi-Sugeno descriptor systems with unknown inputs and application to fault diagnosis ', IET Control Theory Appl., 2007, 1, (5), p. 1487-1495
34. Tanaka, K., Ohtake, H., and Wang, H.O.: ' A descriptor system approach to fuzzy control system design via fuzzy Lyapunov functions ', IEEE Trans. Fuzzy Syst., 2007, 15, (3), p. 333-341 1063-6706
35. Guerra, T.M., Bernal, M., Kruszewski, A., and Afroun, M.: ' A way to improve results for the stabilisation of continuous time fuzzy descriptor models ', Proc. 46th IEEE Conf. on Decision and Control, New Orleans, LA, USA, December, 2007
36. Guelton, K., Bouarar, T., and Manamanni, N.: ' Robust dynamic output feedback fuzzy Lyapunov stabilization of Takagi-Sugeno systems - a descriptor redundancy approach ', Fuzzy Sets Syst., 2009, 160, (19), p. 2796-2811 0165-0114
37. Bynum, E.B., Barrack, R.L., and Alexaner, A.H.: ' Open versus closed chain kinetic exercises after anterior cruplate ligament reconstruction. A prospective randomized study ', Am. J. Sports Med., 1995, 23, (4), p. 401-406
38. O'Connor, J.J.: ' Can muscle co-knee ligaments after injury or repair ', J. Bone Contract. Protect Joint Surg., 1993, 758, (1), p. 41-48
39. Seddiki, L., Guelton, K., Afilal, L., and Zaytoon, J.: ' A 6 degrees of freedom kinematical model of the knee for the design of a new rehabilitation device ', Proc. 3rd European Medical and Biological Engineering Conf., Prague, Czech Republic, November, 2005
40. Zaytoon, J., Moughamir, S., Manamanni, N., Afilal, L., and Angelloz, L.: ' Formal specifications of sequential control for training machines for the lower limbs ', Proc. IEEE EMBS, 2001, 4, p. 3468-3471
41. Wang, H.O., Tanaka, K., and Griffin, M.: ' Parallel distributed compensation of nonlinear systems by Takagi-Sugeno ', IEEE Trans. Fuzzy Syst., 1995, 2, (2), p. 531-538 1063-6706
42. Boyd, S., El Ghaoui, L., Feron, E., and Balakrishnan, V.: ' Linear matrix inequality in systems and control theory ', Studies in applied mathematics, (SIAM, Philadelphia, 1994), 15
43. Gahinet, P., Nemirovski, A., Laub, A., and Chilali, M.: ' LMI control toolbox ', (The Mathworks Inc, Natick, MA, 1995)