Nonlinear Tracking Control Of An Antagonistic Muscle Pair Actuated System
ORCID ID
van den Bogert, Antonie J/0000-0002-3791-3749
Document Type
Conference Proceeding
Publication Date
2017
Publication Title
Proceedings Of The ASME 10th Annual Dynamic Systems And Control Conference, 2017, Vol 1
Abstract
When developing a machine intended for interaction with humans such as rehabilitation equipment or powered prostheses, it is useful to test in simulation prior to hardware implementation, avoiding safety hazards. Few models of the human for such purposes are seen in the literature. This paper moves toward the realization of such a model by developing a simple muscle actuated system and related controller. The backstepping control methodology is implemented such that the controller accounts for all of the levels of intricacy presented by the Hill muscle model as an actuator, including the activation dynamics. The neural inputs are used as the actual controls. To be able to derive the control law, a modified strict-feedback form of the model is also developed. Stable tracking performance is then achieved in simulation.
Recommended Citation
Warner, Holly; Richter, Hanz; and van den Bogert, Antonie, "Nonlinear Tracking Control Of An Antagonistic Muscle Pair Actuated System" (2017). Mechanical Engineering Faculty Publications. 354.
https://engagedscholarship.csuohio.edu/enme_facpub/354
