DocumentCode
2252140
Title
Stabilizability of an antagonistic biomimetic actuator system
Author
Kolacinski, Richard M. ; Lin, Wei ; Chizeck, Howard
Author_Institution
Dept. of Mech. & Aerosp. Eng., Case Western Reserve Univ., Cleveland, OH, USA
Volume
3
fYear
1998
fDate
21-26 Jun 1998
Firstpage
1727
Abstract
We investigate the problem of asymptotic stabilization of a biomimetic actuation system which independently modulates position and net stiffness. We show how the passivity formalism and the technique of input saturation can be used to globally asymptotically stabilize (GAS) this mechanical system via bounded feedback. The performance of the proposed stabilizing controller is illustrated through a numerical simulation
Keywords
Lyapunov methods; actuators; asymptotic stability; nonlinear control systems; position control; state feedback; antagonistic biomimetic actuator system; bounded feedback; global asymptotic stabilization; input saturation; mechanical system; net stiffness; passivity formalism; position modulation; Actuators; Biological control systems; Biological systems; Biomimetics; Control systems; Force control; Mechanical systems; Muscles; Numerical simulation; Springs;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1998. Proceedings of the 1998
Conference_Location
Philadelphia, PA
ISSN
0743-1619
Print_ISBN
0-7803-4530-4
Type
conf
DOI
10.1109/ACC.1998.707302
Filename
707302
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