An Approach to Control of Human Leg Switched Dynamics

Author

Mackowski, Michal ; Grzejszczak, Tomasz ; Legowski, Adrian

Author_Institution

Inst. of Autom. Control, Silesian Univ. of Technol., Gliwice, Poland

fYear

2015

fDate

27-29 May 2015

Firstpage

133

Lastpage

140

Abstract

This article describes the approach to control of human leg dynamical model as a switched linear system. The control scheme consists of fractional and integral order PID controllers. In the paper we analyze the responses of the system depending on the above-mentioned controllers. We focus our attention on angular displacements only. The angular velocity maybe arbitrary. Additionally, we present the method how to design a human leg as the switched linear system. In this case the switching rule is state-dependent. Finally, we present two illustrative examples for two different trajectories.

Keywords

biocontrol; biomechanics; linear systems; switching systems (control); three-term control; angular displacements; angular velocity; fractional order PID controller; human leg dynamical model control; human leg switched dynamics; integral order PID controller; switched linear system; switching rule; Joints; Linear systems; Mathematical model; Regulators; Switches; Trajectory; PID controllers; human leg; statedependent switching function; switched linear system;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Systems and Computer Science (CSCS), 2015 20th International Conference on

Conference_Location

Bucharest

Print_ISBN

978-1-4799-1779-2

Type

conf

DOI

10.1109/CSCS.2015.67

Filename

7168420