Earticle

초록

영어

The model and control of a human forearm is analyzed. In this work, we study the problem of human hand control carrying a mass. The equation of motion and the natural frequency of the forearm for small angular displacement are derived. We develop new methods that use vector fields in the controller construction for a set of nonlinear dynamical systems. The paper deals with compensate of non-linear system which has a similar idea as the method mentioned in linear system. The nonlinear control design procedure, as in the case of linear systems, involves three steps. The first step is the devise of a state-feedback control law, the second step involves the design of a state estimator, and the third step merges the first two steps to obtain a collective controller–estimator compensator. We have managed to design a control law for the non-linear representation of a system, in such a way that the representation of a closed loop system is affine, controllable, and observable and a closed loop system is asymptotically stable. Throughout any motion, the forearm can be considered a one-link robot manipulator which could be exploited to benefit people with disabilities (missing extremities).

목차

Abstract
 1. Introduction
 2. Mathematical Modeling
 3. Nonlinear Control
 4. Nonlinear State-feedback Control
 5. Nonlinear Observer Form
 6. Nonlinear Combined Controller–estimator Compensator
 7. Conclusions
 References

키워드

저자

• Gamal A. Elnashar [ Automatic Control Centre, School of Engineering-Egyptian Armed Forces, 15 Yassien Raghb St., Nasr City, Cairo, Egypt ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605