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Title
Japanese: 
English:Comparison between Passivity and RISE based Control for 2DOF Human Lower Limb Tracking 
Author
Japanese: 河合 康典, 河合 宏之, 藤田 政之.  
English: Y. Kawai, H. Kawai, M. Fujita.  
Language English 
Journal/Book name
Japanese:計測自動制御学会 ライフエンジニアリング部門シンポジウム(LE2013) 論文集 
English: 
Volume, Number, Page        
Published date Sept. 12, 2013 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:計測自動制御学会 ライフエンジニアリング部門シンポジウム(LE2013) 
English: 
Conference site
Japanese:神奈川 
English:Kanagawa 
Abstract This paper considers comparison between passivity and the robust integral of the sign of the error (RISE) based control for two-degree-of-freedom (2DOF) human lower limb tracking. The 2DOF human lower limb is modeled by using antagonistic bi-articular muscles. The passivity based control have already been presented, however model parameters of the lower limb of the human body cannot be measured exactly. On the other hand, model parameters are not required in RISE based control. It is shown that the stability is guaranteed for unmodeled bounded disturbances. Simulation results indicate that the trajectory tracking of the proposed RISE control in the presence of unmodeled bounded disturbances is the same as no disturbance response compared to passivity based control.

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