Newton Method based Iterative Learning Control of the Upper Limb
Newton Method based Iterative Learning Control of the Upper Limb
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.
3887-3892
Davies, Iain
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Freeman, Christopher
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Lewin, Paul
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Rogers, Eric
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Owens, David
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2008
Davies, Iain
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Freeman, Christopher
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Lewin, Paul
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Rogers, Eric
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Owens, David
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Davies, Iain, Freeman, Christopher, Lewin, Paul, Rogers, Eric and Owens, David
(2008)
Newton Method based Iterative Learning Control of the Upper Limb.
2008 American Control Conference, June 11 - 13, Seattle, Washington, USA.
.
Record type:
Conference or Workshop Item
(Paper)
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.
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Published date: 2008
Venue - Dates:
2008 American Control Conference, June 11 - 13, Seattle, Washington, USA, 2008-01-01
Organisations:
EEE, Southampton Wireless Group
Identifiers
Local EPrints ID: 265326
URI: http://eprints.soton.ac.uk/id/eprint/265326
PURE UUID: 72058bc6-f175-4bc6-a863-f2c845f044af
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Date deposited: 15 Mar 2008 07:55
Last modified: 15 Mar 2024 02:43
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Contributors
Author:
Iain Davies
Author:
Christopher Freeman
Author:
Paul Lewin
Author:
Eric Rogers
Author:
David Owens
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