Related papers: Predictor-Based Tracking For Neuromuscular Electri…
Neuromorphic engineering is an emerging research domain that aims to realize important implementation advantages that brain-inspired technologies can offer over classical digital technologies, including energy efficiency, adaptability, and…
Mental disorders may exhibit pathological brain rhythms and neurostimulation promises to alleviate of patients' symptoms by modifying these rhythms. Today, most neurostimulation schemes are open-loop, i.e. administer experimental…
It poses technical difficulty to achieve stable tracking even for single mismatched nonlinear strict-feedback systems when intermittent state feedback is utilized. The underlying problem becomes even more complicated if such systems are…
Objective: Closed-loop deep brain stimulation (DBS) may improve current clinical DBS treatment for neurological movement disorders, but control algorithms may perform differently across patients. New metrics are needed for comparing and…
In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…
We propose a new technique for performing state space exploration of closed loop control systems with neural network feedback controllers. Our approach involves approximating the sensitivity of the trajectories of the closed loop dynamics.…
Closed-loop brain stimulation holds potential as personalized treatment for drug-resistant epilepsy (DRE) but still suffers from limitations that result in highly variable efficacy. First, stimulation is typically delivered upon detection…
Neuromuscular electrical stimulation (NMES) has been effectively applied in many rehabilitation treatments of individuals with spinal cord injury (SCI). In this context, we introduce a novel, robust, and intelligent control-based…
Functional Electrical Stimulation (FES) systems are successful in restoring motor function and supporting paralyzed users. Commercially available FES products are open loop, meaning that the system is unable to adapt to changing conditions…
The primary motor cortex appears to be in the center of transcranial magnetic stimulation (TMS). It is one of few locations that provide directly observable responses, and its physiology serves as model or reference for almost all other TMS…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
This paper addresses the sensitivity analysis for hybrid systems with discontinuous (jumping) state trajectories. We consider state-triggered jumps in the state evolution, potentially accompanied by mode switching in the control vector…
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (i) output prediction which has to track the reference…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…
Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled…
We study the design problems of state observers and tracking controllers for a class of hybrid systems whose state jumps. The idea is to utilize the well-known method of gluing the jump set (a part of domain where the jumps take place) onto…
A feedback controller is proposed to perform output reference tracking with prescribed performance for nonlinear continuous-time systems of relative degree two. The controller is of sampled-data type, i.e., measurements are available only…
This article focuses on the problem of adaptive tracking control for a specific type of nonlinear system that is subject to full-state constraints via a hybrid event-triggered control (HETC) strategy. With the auxiliary system, we proposed…
This paper proposes a novel control architecture for state and input constrained Euler-Lagrange (E-L) systems with parametric uncertainties. A simple saturated controller is strategically coupled with a Barrier Lyapunov Function (BLF) based…