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Human-Like Robot Arm Robust Nonlinear Control Using a Bio-inspired Controller with Uncertain Properties

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Advances in Neural Networks - ISNN 2017 (ISNN 2017)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 10262))

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Abstract

This work focuses on a nonlinear robust control of a human arm-like robot arm by using a bio-inspired method based human arm musculoskeletal characteristics, mainly consisting of multi-joint viscosity and multi-joint stiffness. The multi-joint viscosity and multi-joint stiffness are used in designing a bio-inspired operator controller, and the time-varying on estimated human arm multi-joint viscoelasticity (HAMV) data is fed to the designed controller in simulation. Using the designed control architecture, the sufficient robust stable conditions are derived in the presence of uncertainties of modelling and measurement errors, and the control output tracking performance is also realized.

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Author information

Authors and Affiliations

  1. School of Electronic Information, Zhongyuan University of Technology, Zhengzhou, China

    Yiping Chang, Aihui Wang, Shengjun Wen & Wudai Liao

Authors
  1. Yiping Chang
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  2. Aihui Wang
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  3. Shengjun Wen
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  4. Wudai Liao
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Corresponding author

Correspondence to Aihui Wang .

Editor information

Editors and Affiliations

  1. Dalian University of Technology, Dalian, China

    Fengyu Cong

  2. City University of Hong Kong, Kowloon Tong, Hong Kong

    Andrew Leung

  3. Chinese Academy of Sciences, Beijing, China

    Qinglai Wei

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Chang, Y., Wang, A., Wen, S., Liao, W. (2017). Human-Like Robot Arm Robust Nonlinear Control Using a Bio-inspired Controller with Uncertain Properties. In: Cong, F., Leung, A., Wei, Q. (eds) Advances in Neural Networks - ISNN 2017. ISNN 2017. Lecture Notes in Computer Science(), vol 10262. Springer, Cham. https://doi.org/10.1007/978-3-319-59081-3_1

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  • DOI: https://doi.org/10.1007/978-3-319-59081-3_1

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-59080-6

  • Online ISBN: 978-3-319-59081-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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