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 and Applied Science > Electronics and Computer Science > Comms, Signal Processing & Control Faculty of Physical and Applied Science > Electronics and Computer Science > EEE |
| Item ID: | 265326 |
| Date Deposited: | 15 Mar 2008 07:55 |
| Last Modified: | 26 Apr 2013 04:12 |
| Contributors: | Davies, Iain (Author) Freeman, Christopher (Author) Lewin, Paul (Author) Rogers, Eric (Author) Owens, David (Author) |
| Date: | 2008 |
| Status: | Published |
| Further Information: | Google Scholar |
| ISI Citation Count: | 1 |
| URI: | http://eprints.soton.ac.uk/id/eprint/265326 |
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