Adaptive super twisting controller: In search of a universal controller for the paraplegic knee movement using FES

摘要

In this work, super twisting controller is tested for paraplegic knee stimulation. In contrary to the literature controllers proposed for the paraplegic patient, our command assures a uniform global convergence using the Lyapunov function. We studied, firstly, the performances of the controller by comparing them with those of literature. Then, we proposed an adaptive super twisting controller assuring a global stability. The results are promising and may be used easily by practitioners for reeducation of paraplegic patients.