Abstract
In this paper, the analysis of switched human dynamics is shown. The analysis concerns the use of fractional-order \(PI^{\mu }D^{\lambda }\) controller and integer-order PID controller. The above-mentioned controllers are applied to control the non-linear plant, which is the human arm. The control object is described as a non-linear continuous-time switched system. The switching rule is state-dependent. At the end of the article, illustrative examples are presented. The examples show the influence of fractional order controller parameters on the quality of the responses to a given input signal.
Keywords
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The research presented here were funded by the Silesian University of Technology grant BK-227/RAu1/2015/2.
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Babiarz, A. (2016). On Control of Human Arm Switched Dynamics. In: Gruca, A., Brachman, A., Kozielski, S., Czachórski, T. (eds) Man–Machine Interactions 4. Advances in Intelligent Systems and Computing, vol 391. Springer, Cham. https://doi.org/10.1007/978-3-319-23437-3_12
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DOI: https://doi.org/10.1007/978-3-319-23437-3_12
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