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.
各種検索
サポート
ヘルプ