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Newton Method based Iterative Learning Control of the Upper Limb

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
d7a3cfdd-0fc6-4e86-90af-984890430a4a
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Owens, David
0d0eb9da-c362-457d-841f-3094a18120ee
Davies, Iain
d7a3cfdd-0fc6-4e86-90af-984890430a4a
Freeman, Christopher
ccdd1272-cdc7-43fb-a1bb-b1ef0bdf5815
Lewin, Paul
78b4fc49-1cb3-4db9-ba90-3ae70c0f639e
Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Owens, David
0d0eb9da-c362-457d-841f-3094a18120ee

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

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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More information

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

Catalogue record

Date deposited: 15 Mar 2008 07:55
Last modified: 18 Jul 2017 07:26

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Contributors

Author: Iain Davies
Author: Paul Lewin
Author: Eric Rogers
Author: David Owens

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