Operator-based robust control design for a human arm-like manipulator with time-varying delay measurements
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- 作者：Aihui Wang (1)
Mingcong Deng (2)
Dongyun Wang (1) - 关键词：Delay compensation operator ; forward predictive operator ; human multi ; joint arm viscoelasticity ; robust nonlinear tracking ; robust right coprime factorization
- 刊名：International Journal of Control, Automation and Systems
- 出版年：2013
- 出版时间：December 2013
- 年：2013
- 卷：11
- 期：6
- 页码：1112-1121
- 全文大小：
- 作者单位：Aihui Wang (1)
Mingcong Deng (2)
Dongyun Wang (1)
1. Zhongyuan University of Technology, Zhengzhou, China
2. Tokyo University of Agriculture and Technology, Tokyo, Japan - ISSN：2005-4092
文摘
In this paper, an operator-based robust nonlinear control for a human multi-joint arm-like manipulator with time-varying delay measurements is proposed by using robust right coprime factorization approach, a delay compensation operator and a forward predictive operator. That is, first, considering the uncertainties of dynamic model consisting of measurement error and disturbances, an operator-based nonlinear feedback control scheme is designed to eliminate effect of uncertainties. Second, an operator controller based on real measured data from human multi-joint arm viscoelasticity is presented to obtain desired motion mechanism of human multi-joint arm viscoelastic properties, the unknown time-varying delay measurements are described by a delay operator, the delay compensation operator is designed to remove the effect of unknown time-varying delay measurements, and the forward predictive operator is designed to compensate the term related to effect of central nervous system (CNS) during human multi-joint arm movements. The BIBO stability can be guaranteed and the tracking performance can be realized by the designed operator controller, the delay compensation operator and the forward predictive operator. Finally, the effectiveness of the proposed design scheme is confirmed by the simulation results based on experimental data.