Cascade stabilization and reference tracking of a simple nonlinear limb model

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The stabilizing control of an elbow-like nonlinear limb model is described in this paper. The control designmethod is based on linearization and backstepping using the special cascade structure of the system. Using the proposed control structure, a regulation and a trajectory tracking problem are solved with known control Lyapunov function. It is shown that the control inputs satisfy the previously defined physical constraints.

Original languageEnglish
Title of host publicationProceedings of the 26th IASTED International Conference on Modelling, Identification, and Control, MIC 2007
Pages369-374
Number of pages6
Publication statusPublished - Dec 1 2007
Event26th IASTED International Conference on Modelling, Identification, and Control, MIC 2007 - Innsbruck, Austria
Duration: Feb 12 2007Feb 14 2007

Publication series

NameProceedings of the IASTED International Conference on Modelling, Identification, and Control, MIC
ISSN (Print)1025-8973

Other

Other26th IASTED International Conference on Modelling, Identification, and Control, MIC 2007
CountryAustria
CityInnsbruck
Period2/12/072/14/07

Keywords

  • Backstepping
  • Biomedical modelling
  • Musculoskeletal control
  • Nonlinear control

ASJC Scopus subject areas

  • Software
  • Modelling and Simulation
  • Computer Science Applications

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  • Cite this

    Csercsik, D., Szederḱenyi, Ǵ., & Hangos, K. M. (2007). Cascade stabilization and reference tracking of a simple nonlinear limb model. In Proceedings of the 26th IASTED International Conference on Modelling, Identification, and Control, MIC 2007 (pp. 369-374). (Proceedings of the IASTED International Conference on Modelling, Identification, and Control, MIC).