Linear and nonlinear control of musculoskeletal systems

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

Abstract

The methods of nonlinear systems and control theory were applied to a simple musculoskeletal system with one joint and two muscles in this paper. For this purpose, a nonlinear input-affine state-space model has been developed for this system with a flexor and an extensor muscle taking into account the nonlinear muscle and movement dynamics. Two types of controllers were designed: a linear pole-placement servo designed for the locally linearized model, and a nonlinear controller based on asymptotic output tracking method. It is expected and forward that during a movement with a large range of motion the nonlinearities of the system will be dominant and the nonlinear methods will outperform the linear ones. The output reference tracking properties of the controllers have been investigated by simulation and it has been found that the nonlinear controller gives more accurate tracking with no overshoots than the linear one.

Original languageEnglish
Title of host publicationProceedings of the 25th IASTED International Conference on Modelling, Identification, and Control, MIC 2006
Pages219-224
Number of pages6
Publication statusPublished - Dec 1 2006
Event25th IASTED International Conference on Modelling, Identification, and Control, MIC 2006 - Lanzarote, Canary Islands, Spain
Duration: Jan 6 2006Jan 8 2006

Publication series

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

Other

Other25th IASTED International Conference on Modelling, Identification, and Control, MIC 2006
CountrySpain
CityLanzarote, Canary Islands
Period1/6/061/8/06

Keywords

  • Arm motion
  • Biomedical modelling
  • Linear control
  • Non-linear control

ASJC Scopus subject areas

  • Software
  • Modelling and Simulation
  • Computer Science Applications

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  • Cite this

    Fazekas, C., Szederkényi, G., & Hangos, K. M. (2006). Linear and nonlinear control of musculoskeletal systems. In Proceedings of the 25th IASTED International Conference on Modelling, Identification, and Control, MIC 2006 (pp. 219-224). (Proceedings of the IASTED International Conference on Modelling, Identification, and Control, MIC).