Operator-based robust control design for a human arm-like manipulator with time-varying delay measurements

Wang, Aihui; Deng, Mingcong; Wang, Dongyun

doi:10.1007/s12555-012-9405-9

Cited by 14 publications

(5 citation statements)

References 28 publications

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“…It is recognized that the joint viscoelasticity of lower limbs is another important factor, which is related to the range of motion and stretching resisitance . This will be studied in future research.…”

Section: Discussionmentioning

confidence: 97%

Stimulation Interval Evaluation for Lower‐Limb Cycling Movement Based on Torque Observer

Hsueh

Tsai

Chen

2017

Asian Journal of Control

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A functional electrical stimulation (FES) assisted cycling ergometer incorporating passive or active movement has been proven to be effective in rehabilitation for stroke patients. Although a conventional five-bar linkage model of lower-limb cycling movement was proposed earlier to evaluate the stimulation interval, the accuracy of the obtained anthropometric data of patients still remains uncertain. To properly deliver FES during cycling for restoring the physical strength of patients, this study proposes a method of stimulation interval evaluation by integrating a torque observer into a motor driven cycle ergometer. The torque observer design, which is based on the measured motor current and position information, is employed to evaluate the stimulation interval without measuring the anthropometric data of patients. Simulated and experimental results were compared to verify the effectiveness of the proposed torque observer approach; meanwhile, the results of the study showed that the torque observer indeed provides a proper stimulation interval for FES in comparison to that of the conventional five-bar linkage model.

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Section: Discussionmentioning

confidence: 97%

Stimulation Interval Evaluation for Lower‐Limb Cycling Movement Based on Torque Observer

Hsueh

Tsai

Chen

2017

Asian Journal of Control

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“…Addressing this problem, and also for the purpose of real application, an operator-based robust nonlinear control design for a manipulator by using robust right coprime factorization approach has been proposed [17], it is based on input output spaces. It is well known that operator-based robust right coprime factorization approach has been a promising approach for analysis, design, stabilization and control of non linear system with disturbances and model uncertainties [18][19][20][21][22]. Especially, robust right coprime factorization has attracted much attention due to its convenient in researching input output stability problems of nonlinear system with uncertain ties.…”

Section: Mingcong Dengmentioning

confidence: 99%

Operator-based robust nonlinear perfect tracking control design to a robot arm with uncertainties

Wang

Wen

et al. 2013

Proceedings of the 2013 International Conference on Advanced Mechatronic Systems

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In this paper, an operator-based robust nonlinear perfect tracking control for a robot arm with uncertainties is proposed by using robust right coprime factorization approach.In general, there exist unknown modeling errors in measuring structural parameters of the robot arm and external disturbances in real situations. In the present control system design, the effect of the modeling errors and disturbance on the system performance is considered to be uncertainties of the robot arm dynamics. Considering the uncertainties, an operator-based ro bust nonlinear perfect tracking control using robust right coprime factorization is studied. That is, first, considering the unknown uncertain plant generates limitations in obtaining the so-called universal condition, the effect of uncertain plant is eliminated by designed operator-based feedback control scheme. Second, a new perfect tracking condition is proposed for improving the trajectory of the robot arm. Finally, the effectiveness of the designed system is confirmed by simulation results.

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“…The past decades have witnessed a tremendous rapid growth of linear or nonlinear systems in control design, such as chaos phenomenon, robust analysis, output tracking problem, fault detection and fault isolation . As for the linear system, it has got a considerable progress in many aspects and achieved a relative mature degree in certain depth.…”

Section: Introductionmentioning

confidence: 99%

“…The right coprime factorization approach based on Lipschitz condition from operator view of point has been considered by many authors . In , robust right coprime factorization for nonlinear systems is considered firstly.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Control Method for Nonlinear Systems with Unknown Perturbations by Combining Left and Right Factorization

Tao

Deng

2017

Asian Journal of Control

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In this paper, nonlinear control design scheme for a class of nonlinear systems is proposed based on operator coprime factorization theory. In detail, two stable controllers are provided to design a Bezout identity by combining left factorization (not coprime) with right factorization. Based on the proposed design method, a realization approach to left coprime factorization for the nonlinear system is obtained, which provides an effective framework for constructing left coprime factorization. Meanwhile, internal‐output stability of the nonlinear system is guaranteed. After that, based on the obtained left coprime factorization, the cases of the nonlinear systems with perturbations are discussed for guaranteeing robust stability for the perturbed systems. For the perturbations, two different cases, known bounded perturbations and unknown bounded perturbations, are investigated from different viewpoints to analyze robust stability issue for the perturbed systems. Finally, a simulation example is given to confirm the effectiveness of the proposed design method.

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Operator-based robust control design for a human arm-like manipulator with time-varying delay measurements

Cited by 14 publications

References 28 publications

Stimulation Interval Evaluation for Lower‐Limb Cycling Movement Based on Torque Observer

Stimulation Interval Evaluation for Lower‐Limb Cycling Movement Based on Torque Observer

Operator-based robust nonlinear perfect tracking control design to a robot arm with uncertainties

Nonlinear Control Method for Nonlinear Systems with Unknown Perturbations by Combining Left and Right Factorization

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