Identification and robust control of heart rate during treadmill exercise at large speed ranges
Registro en:
instname:Universidad de Bogotá Jorge Tadeo Lozano
reponame:Repositorio Institucional de la Universidad de Bogotá Jorge Tadeo Lozano
Autor
Esmaeili, Ali
Ibeas, Asier
Herrera, Jorge
Esmaeili, Nazila
Institución
Resumen
The objective of this paper is to design a heart rate (HR) controller for a treadmill so
that the HR of an individual running on it tracks a pre-specified, potentially time-varying profile
specified by doctors for the cardiac recovery of the person. Initially, a parameter estimation algorithm
is presented with the aim of estimating the values of the parameters of a model relating the speed
of the treadmill with the HR of an individual. The parameter estimation problem is formulated as
an optimization one and solved by using Particle Swarm Optimization (PSO). Afterwards, a super-
twisting sliding mode controller is designed to perform the robust control of treadmill’s speed in the
presence of potential unmodelled dynamics or parametric uncertainties. Numerical examples show that
the estimation procedure is able to obtain accurate values for the system’s parameters while the proposed
control approach is able to obtain zero tracking error without chattering, definitely achieving the control
objectives. In both cases the range of treadmill’s speed goes from 2 to 14 km/h, range that is not usually
employed in previous studies.