Scholarlink

This research presents the control of an arm prosthesis with a single flexible joint, modeled by a system of differential equations, and represented in state space. Using advanced controllers such as PID, LQR and H∞, we seek to optimize the movement and the interaction with the environment, guaranteeing precision and smoothness. The model is validated through MATLAB simulations and analyzed by means of transfer functions and responses in the frequency domain.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Adaptive Control of a Flexibly Jointed Arm Prosthesis Using Advanced Control Theory Methods

  • 会议论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年

查看全文
  • Francisco Sangoquiza,
  • Andrés Benavides,
  • Stalin Bolaños,
  • Cristian Cuji

摘要

This research presents the control of an arm prosthesis with a single flexible joint, modeled by a system of differential equations, and represented in state space. Using advanced controllers such as PID, LQR and H∞, we seek to optimize the movement and the interaction with the environment, guaranteeing precision and smoothness. The model is validated through MATLAB simulations and analyzed by means of transfer functions and responses in the frequency domain.