Robust adaptive H_∞ control design for heart rate regulation during rhythmic exercises of unknown type

Abstract

The aim of the study is to regulate the human heart rate (HR) response to a pre-defined reference profile during aerobic activities of unknown type. A novel feature of the designed control system is obtained to generate the desired rhythmic movements, which is required to achieve the target HR profile during aerobic activities of unknown type. These rhythmic movements or frequency of locomotion is known as the exercise rate (ER) and is quantified as a fundamental measure of exercise intensity. The relationship between ER and HR is modelled by using a Linear Time Varying (LTV) system. The parameters of the model are estimated using a Kalman Filter. Based on this model, a robust adaptive H ∞ controller is designed. The H ∞ controller generates target ER (ER T) corresponding to target HR (HR T). This ER T is communicated to the exercising subject by using a human actuating System (HAS). The role of HAS is to achieve (ER T). To validate the performance of the system, it is tested on 6 healthy subjects during rowing and cycling exercises. The results demonstrate that the designed control system can regulate HR at a given profile with an average root mean square error (RM SE) of 3.1857 bpm and 2.9396 bpm for rowing and cycling, respectively. The developed system can be used for designing an optimal exercising protocol for individuals.

A Barrier Function-Based Integral Sliding Mode Control of Heart Rate During Treadmill Exercise

“…(11). For the ISMC law based on using barrier function (ISMCbf), us can take the following form: (12) where ϵ>0 represents the thickness of the boundary layer, while λs>0 is the control gain which will be selected to enhance the control robustness and adjust the steady state error. To this end, in the ISMC, the use of 𝑢 𝑠 | 𝐼𝑆𝑀𝐶𝑏𝑓 instead of 𝑢 𝑠 | 𝐶𝑆𝑀𝐶 has great features which can be summarized as follows;…”

“…This nonlinear controller is also used in the study of Paradiso et al [9] to control HR during cycle-ergometer exercises at constant cycling speed. Adaptive 𝐻 ∞ controller is deigned in the study of Baig et al [12] to control HR response during aerobic activities of unknown type. The 𝐻 ∞ controller is designed based on Linear Time-Varying (LTV) model.…”

Dynamic Modeling of a Nonlinear Two-Wheeled Robot Using Data-Driven Approach

“…System identification using a data-driven approach for human heart rate during treadmill exercise at different treadmill speeds is performed in [22]. A data-driven robust adaptive Hinfinity controller during various rhythmic exercises is described in [23]. Previous studies using data-driven approaches had been unable to identify TWR dynamics at different operating conditions.…”