In this paper, an operator-based robust nonlinear tracking control for a human multi-joint arm-like manipulator with unknown time-varying delays is proposed by using robust right coprime factorization approach and a forward predictive operator. That is, first, considering the uncertainties of dynamic model consist of measurement error and disturbances, a nonlinear feedback control scheme is designed to eliminate effect of uncertainties. Second, an operator controller based on real measured data from human multi-joint arm viscoelasticity is presented to obtain desired motion mechanism of human multi-joint arm viscoelastic properties, the unknown time-varying delays are described by a delay operator, and the forward predictive operator is designed to compensate the effect of CNS during human multi-joint arm movements and to remove the effect of unknown time-varying delays while the real online measured data of human multi-joint arm viscoelasticity is fed to the designed operator controller. Finally, the effectiveness of the proposed design scheme is confirmed by the simulation results based on experimental data.
Wang, Aihui and Deng, Mingcong
"Operator-based Robust Nonlinear Tracking Control for A Human Multi-joint Arm-like Manipulator with Unknown Time-varying Delays,"
Applied Mathematics & Information Sciences: Vol. 06
, Article 11.
Available at: https://dc.naturalspublishing.com/amis/vol06/iss3/11