H-infinity based full state feedback controller design for human swing leg
Joint Authors
Abd al-Rida, Azhar J.
Ali, Hazim Ibrahim
Source
Engineering and Technology Journal
Issue
Vol. 36, Issue 3A (31 Mar. 2018), pp.350-357, 8 p.
Publisher
Publication Date
2018-03-31
Country of Publication
Iraq
No. of Pages
8
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Abstract EN
In this paper, the robustness properties of H-infinity control to produce a dynamic output feedback controller is applied to a human swing leg system.
The double pendulum structure is usually used to model this system.
The pendulum links will represent the thigh and shank of a human leg.
The upper body will be connected to the thigh and then the shank via hip and knee joints.
The muscles of thigh and shank are moved by applied two external (servomotor) torques at the hip and knee joints.
The mathematical model of the system is developed.
The results show that the proposed controller can robustly stabilize the system and achieve a desirable time response specification.
The results were obtained by using Matlab program and the achieved time response specifications are raise time tr=0.18 seconds, settling time ts=0.25 seconds and maximum over shoot Mp=0.03 for hip joint and tr=0.13 seconds, ts=0.21 seconds and Mp=0.01 for knee joint
American Psychological Association (APA)
Ali, Hazim Ibrahim& Abd al-Rida, Azhar J.. 2018. H-infinity based full state feedback controller design for human swing leg. Engineering and Technology Journal،Vol. 36, no. 3A, pp.350-357.
https://search.emarefa.net/detail/BIM-831237
Modern Language Association (MLA)
Ali, Hazim Ibrahim& Abd al-Rida, Azhar J.. H-infinity based full state feedback controller design for human swing leg. Engineering and Technology Journal Vol. 36, no. 3A (2018), pp.350-357.
https://search.emarefa.net/detail/BIM-831237
American Medical Association (AMA)
Ali, Hazim Ibrahim& Abd al-Rida, Azhar J.. H-infinity based full state feedback controller design for human swing leg. Engineering and Technology Journal. 2018. Vol. 36, no. 3A, pp.350-357.
https://search.emarefa.net/detail/BIM-831237
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 356-357
Record ID
BIM-831237