Key result
The barrier function-based integral sliding mode controller (ISMCbf) demonstrated superior quantitative performance in simulated treadmill exercises by recording lower Integral Squared Error and Integral Time Absolute Error indices compared to QSMC and STSMC.
Why the study?
The study was designed to develop a robust, chattering-free controller commanding treadmill speed to guide human heart rate along a pre-specified time-varying profile during cardiovascular rehabilitation exercises.
A novel barrier function-based integral sliding mode controller demonstrated superior performance in simulating heart rate control during treadmill exercise compared to existing controllers.
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May enable automated HR-guided treadmill rehab in CVD; leaves open randomized trials before clinical use.
The objective of this work is to design an Integral Sliding Mode Controller based on barrier function (ISMCbf) for a human Heart Rate (HR) during a treadmill exercise. ISMCbf commands the speed of the treadmill such that the individual HR follows a time-varying profile. This profile is pre specified as part of rehabilitation exercises for patients with cardiovascular diseases. ISMCbf is chosen due to its well-known robustness properties as well as to its simple design procedure as compared to classic SMC and ISMC. It does not require the upper bounds of the uncertainties and perturbations in its design. Moreover, it does not have discontinuous function, hence it is a chattering-free controller. ISMCbf designed in this work for the first time for this system and its performance is compared to Quasi SMC (QSMC) and Super Twisting SMC (STSMC) from previous studies. The simulated exercises were conducted on a nonlinear model describing HR response to the walking speed of a treadmill. For ISMCbf, the model parameters and their upper bound of uncertainties are considered unknown. During two different exercise scenarios, the three controllers guided HR to follow the time-varying reference profile. However, ISMCbf showed higher quantitative performance by recording less Integral Squared Error (ISE) and Integral Time Absolute Error (ITAE) indices as compared to the other controllers.
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MohammadRidha et al. (2023) studied Cardiovascular diseases (rehabilitation exercise simulation) (n=5). Integral Sliding Mode Controller based on barrier function (ISMCbf) vs. Quasi SMC (QSMC) and Super Twisting SMC (STSMC) was evaluated on Integral Squared Error (ISE) and Integral Time Absolute Error (ITAE) for heart rate tracking. The barrier function-based integral sliding mode controller (ISMCbf) demonstrated superior quantitative performance in simulated treadmill exercises by recording lower Integral Squared Error and Integral Time Absolute Error indices compared to QSMC and STSMC.
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