Abstract Functional electrical stimulation (FES) has been used to restore and aid motor functions in paraplegics, promoting better therapeutic results for its users. From experimental results, one can observe that there exists an uncertain term added to the control signal for a given operating point, because of the plant uncertainties. An experimental setup is presented to identify a linear model containing uncertainties. Then, robust single-gain controllers and suitable switched controllers are designed for compensating the uncertain term added to the control signal. Open-loop technique, robust single-gain and robust switched controllers are numerically compared. The experimental results show the regulation for five healthy and four paraplegic individuals. The successful run time when the robust switched control is used along with a smooth switching signal is higher than those of other studies presented in the literature. In addition, the results indicate that compared with the robust single-gain controller, the robust switched controller minimizes the influence of the parametric uncertainties, returns the smallest time-derivative value of the Lyapunov function, and presents higher feasibility and lower gain norm to control the system.

中文翻译：

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电刺激下肢的稳健切换控制设计：健康和脊髓损伤受试者的线性模型分析

摘要 功能性电刺激 (FES) 已被用于恢复和辅助截瘫患者的运动功能，为其使用者提供更好的治疗效果。从实验结果可以看出，由于工厂的不确定性，对于给定的操作点，存在添加到控制信号中的不确定项。提出了一种实验装置来识别包含不确定性的线性模型。然后，设计稳健的单增益控制器和合适的开关控制器来补偿添加到控制信号中的不确定项。在数值上比较了开环技术、鲁棒单增益和鲁棒开关控制器。实验结果显示了对五个健康人和四个截瘫个体的调节。当鲁棒切换控制与平滑切换信号一起使用时，成功运行时间高于文献中提出的其他研究。此外，结果表明，与鲁棒单增益控制器相比，鲁棒切换控制器最大限度地减少了参数不确定性的影响，返回了最小的李雅普诺夫函数时间导数值，并具有更高的可行性和更低的增益范数来控制系统。