Local Kinesthetic Guidance based on Variable-Structure Control Techniques

被引：0
|
作者：
Cruz-Valverde, Carlos [1 ]
Dominguez-Ramirez, Omar A. [2 ]
Ponce-de-Leon-Sanchez, Edgar R. [2 ]
Trejo-Mota, Itzel [2 ]
Sepulveda-Cervantes, Gabriel [3 ]
机构：
[1] Interdisciplinary Profess Unit Engn & Adv Technol, Div Res & Grad Studies, Mexico City, DF, Mexico
[2] Autonomous Univ Hidalgo State, Res Ctr Informat Technol & Syst, Hidalgo, Mexico
[3] Ctr Innovat & Technol Dev Comp, Mexico City, DF, Mexico
来源：
2010 IEEE ELECTRONICS, ROBOTICS AND AUTOMOTIVE MECHANICS CONFERENCE (CERMA 2010) | 2010年
关键词：
D O I：
10.1109/CERMA.2010.132
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a nonlinear passivity-based control strategy based on stability in the sense of Lyapunov (Second method) and sliding mode control applied to Euler-Lagrange systems (robot arms) and extended to the PHANToM Premium 1.0 haptic device for purposes of local haptic guidance rehabilitation and medical diagnosis in people who have some motor impairment (on upper limb) is designed and implemented.
引用
收藏
页码：682 / 689
页数：8
相关论文
共 50 条
  • [31] The Research of Three Phase Voltage PWM Rectifier Based on Variable-Structure Control
    Li, Hua
    He, Liu
    Wang, Bo
    INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTATION TECHNOLOGY AND AUTOMATION, VOL 1, PROCEEDINGS, 2008, : 521 - 525
  • [32] OUTPUT-FEEDBACK VARIABLE-STRUCTURE CONTROL DESIGN
    ELKHAZALI, R
    DECARLO, R
    AUTOMATICA, 1995, 31 (06) : 805 - 816
  • [33] Microprocessor-based modified discrete integral variable-structure control for UPS
    Chern, TL
    Chang, J
    Chen, CH
    Zu, HT
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 1999, 46 (02) : 340 - 348
  • [34] Sliding-mode variable-structure control of Boost converter based on Σ-Δ modulator
    Xiong, Yuansheng
    Yu, Li
    Xu, Jianming
    Dianli Zidonghua Shebei/Electric Power Automation Equipment, 2010, 30 (01): : 75 - 78
  • [35] Optimal variable-structure control tracking of spacecraft maneuvers
    Crassidis, JL
    Vadali, SR
    Markley, FL
    JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2000, 23 (03) : 564 - 566
  • [36] Soft variable-structure control with observers for a hydraulic actuator
    Lens, Hendrik
    Adamy, Juergen
    AT-AUTOMATISIERUNGSTECHNIK, 2007, 55 (08) : 411 - 417
  • [37] VARIABLE-STRUCTURE MODELS IN-PROCESS OBSERVATION AND CONTROL
    DAINSON, BE
    TARTAKOVSKY, B
    SCHEINTUCH, M
    LEWIN, DR
    INDUSTRIAL & ENGINEERING CHEMISTRY RESEARCH, 1995, 34 (09) : 3008 - 3013
  • [38] Variable-structure PID control to prevent integrator windup
    Hodel, AS
    Hall, CE
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2001, 48 (02) : 442 - 451
  • [39] COMBINED ADAPTIVE AND VARIABLE-STRUCTURE CONTROL FOR CONSTRAINED ROBOTS
    SU, CY
    STEPANENKO, Y
    LEUNG, TP
    AUTOMATICA, 1995, 31 (03) : 483 - 488
  • [40] The Application of Variable-structure Control in Theodolite Fast Capture
    Ge Bing
    DIGITAL MANUFACTURING & AUTOMATION III, PTS 1 AND 2, 2012, 190-191 : 1069 - 1073
12345