Cascade stabilization and reference tracking of a simple nonlinear limb model

Dávid Csercsik, G. Szederkényi, K. Hangos

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 IASTED International Conference on Modelling, Identification, and Control, MIC
Pages369-374
Number of pages6
Publication statusPublished - 2007
Event26th IASTED International Conference on Modelling, Identification, and Control, MIC 2007 - Innsbruck, Austria
Duration: Feb 12 2007Feb 14 2007

Other

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

Fingerprint

Cascade
Nonlinear Model
Stabilization
Control Lyapunov Function
Trajectory Tracking
Backstepping
Linearization
Lyapunov functions
Trajectories

Keywords

  • Backstepping
  • Biomedical modelling
  • Musculoskeletal control
  • Nonlinear control

ASJC Scopus subject areas

  • Computer Science Applications
  • Software
  • Modelling and Simulation

Cite this

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

Cascade stabilization and reference tracking of a simple nonlinear limb model. / Csercsik, Dávid; Szederkényi, G.; Hangos, K.

Proceedings of the IASTED International Conference on Modelling, Identification, and Control, MIC. 2007. p. 369-374.

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

Csercsik, D, Szederkényi, G & Hangos, K 2007, Cascade stabilization and reference tracking of a simple nonlinear limb model. in Proceedings of the IASTED International Conference on Modelling, Identification, and Control, MIC. pp. 369-374, 26th IASTED International Conference on Modelling, Identification, and Control, MIC 2007, Innsbruck, Austria, 2/12/07.
Csercsik D, Szederkényi G, Hangos K. Cascade stabilization and reference tracking of a simple nonlinear limb model. In Proceedings of the IASTED International Conference on Modelling, Identification, and Control, MIC. 2007. p. 369-374
Csercsik, Dávid ; Szederkényi, G. ; Hangos, K. / Cascade stabilization and reference tracking of a simple nonlinear limb model. Proceedings of the IASTED International Conference on Modelling, Identification, and Control, MIC. 2007. pp. 369-374
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