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

University of Technology

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