TY - GEN
T1 - Switched control of mechanical systems by using musculotendon actuators
AU - Salinas-Avila, Adriana
AU - Moreno-Valenzuela, Javier
PY - 2009
Y1 - 2009
N2 - This paper addresses the problem of modeling, control, and simulation of a mechanical system actuated by an agonist-antagonist musculotendon subsystem. Contraction dynamics is given by case I of Zajac's model. Saturated semi-positive PD-type controllers with switching as neural excitation inputs are proposed. Linear approaches of nonlinear systems, root locus, switched systems control and SOSTOOLS are used to determine the stability for the obtained closed-loop system. To corroborate the obtained theoretical results numerical simulations have been performed with help of Matlab.
AB - This paper addresses the problem of modeling, control, and simulation of a mechanical system actuated by an agonist-antagonist musculotendon subsystem. Contraction dynamics is given by case I of Zajac's model. Saturated semi-positive PD-type controllers with switching as neural excitation inputs are proposed. Linear approaches of nonlinear systems, root locus, switched systems control and SOSTOOLS are used to determine the stability for the obtained closed-loop system. To corroborate the obtained theoretical results numerical simulations have been performed with help of Matlab.
UR - http://www.scopus.com/inward/record.url?scp=70449631606&partnerID=8YFLogxK
U2 - 10.1109/ACC.2009.5160074
DO - 10.1109/ACC.2009.5160074
M3 - Contribución a la conferencia
AN - SCOPUS:70449631606
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 331
EP - 336
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -