Newton Method based Iterative Learning Control of the Upper Limb


Davies, Iain, Freeman, Christopher, Lewin, Paul, Rogers, Eric and Owens, David (2008) Newton Method based Iterative Learning Control of the Upper Limb. In, 2008 American Control Conference, June 11 - 13, Seattle, Washington, USA , 3887-3892.

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Description/Abstract

A non-linear iterative learning control algorithm is used for the application of functional electrical stimulation to the human arm. The task is to track trajectories in the horizontal plane and stimulation is applied to the triceps muscle. A model of the system is first produced, and then the equations required to implement the control law are derived. Practical considerations are high-lighted and the issue of parameter selection is discussed. Experimental results are subsequently presented, and are used to confirm that the algorithm is capable of exhibiting robustness together with achieving a high level of performance when practically applied to a control problem.

Item Type: Conference or Workshop Item (Paper)
Divisions: Faculty of Physical Sciences and Engineering > Electronics and Computer Science > Comms, Signal Processing & Control
Faculty of Physical Sciences and Engineering > Electronics and Computer Science > EEE
ePrint ID: 265326
Date Deposited: 15 Mar 2008 07:55
Last Modified: 27 Mar 2014 20:10
Further Information:Google Scholar
ISI Citation Count:1
URI: http://eprints.soton.ac.uk/id/eprint/265326

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