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
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;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.707302
