Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay

Y. Matsutani, K. Tahara, H. Kino, H. Ochi

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

This paper proposes a new set-point control method for a musculoskeletal arm by combining muscular internal force feedforward control with feedback control including a large time delay. The proposed method accomplishes robust and rapid positioning with a relatively small muscular force. In the positioning by the muscular internal force feedforward controller, a large muscular force is required to achieve good performance. On the other hand, in the positioning by the feedback controller including the large time delay, the system can easily fall into an unstable state. A simple linear combination of these two controllers makes it possible to improve the control performance and to overcome the drawbacks of each controller in a complementary manner. First, a two-link six-muscle arm model is considered as a musculoskeletal system in this study. Second, the new set-point control method, which consists of the feedforward control signal and the feedback control signal including the time delay, is designed. Third, the stability of the proposed method is investigated using the Lyapunov–Razumikhin method. Finally, the results of numerical simulations and experiments are presented to demonstrate the advantages of the proposed method.

Original languageEnglish
Pages (from-to)1-15
Number of pages15
JournalAdvanced Robotics
Volume32
Issue number8
DOIs
Publication statusAccepted/In press - Mar 28 2018

Fingerprint

Sensory feedback
Feedforward control
Force control
Feedback control
Time delay
Controllers
Musculoskeletal system
Muscle
Feedback
Computer simulation
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

Cite this

Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay. / Matsutani, Y.; Tahara, K.; Kino, H.; Ochi, H.

In: Advanced Robotics, Vol. 32, No. 8, 28.03.2018, p. 1-15.

Research output: Contribution to journalArticle

@article{ea313b26dd554305ad043a10ae720092,
title = "Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay",
abstract = "This paper proposes a new set-point control method for a musculoskeletal arm by combining muscular internal force feedforward control with feedback control including a large time delay. The proposed method accomplishes robust and rapid positioning with a relatively small muscular force. In the positioning by the muscular internal force feedforward controller, a large muscular force is required to achieve good performance. On the other hand, in the positioning by the feedback controller including the large time delay, the system can easily fall into an unstable state. A simple linear combination of these two controllers makes it possible to improve the control performance and to overcome the drawbacks of each controller in a complementary manner. First, a two-link six-muscle arm model is considered as a musculoskeletal system in this study. Second, the new set-point control method, which consists of the feedforward control signal and the feedback control signal including the time delay, is designed. Third, the stability of the proposed method is investigated using the Lyapunov–Razumikhin method. Finally, the results of numerical simulations and experiments are presented to demonstrate the advantages of the proposed method.",
author = "Y. Matsutani and K. Tahara and H. Kino and H. Ochi",
year = "2018",
month = "3",
day = "28",
doi = "10.1080/01691864.2018.1453375",
language = "English",
volume = "32",
pages = "1--15",
journal = "Advanced Robotics",
issn = "0169-1864",
publisher = "Taylor and Francis Ltd.",
number = "8",

}

TY - JOUR

T1 - Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay

AU - Matsutani, Y.

AU - Tahara, K.

AU - Kino, H.

AU - Ochi, H.

PY - 2018/3/28

Y1 - 2018/3/28

N2 - This paper proposes a new set-point control method for a musculoskeletal arm by combining muscular internal force feedforward control with feedback control including a large time delay. The proposed method accomplishes robust and rapid positioning with a relatively small muscular force. In the positioning by the muscular internal force feedforward controller, a large muscular force is required to achieve good performance. On the other hand, in the positioning by the feedback controller including the large time delay, the system can easily fall into an unstable state. A simple linear combination of these two controllers makes it possible to improve the control performance and to overcome the drawbacks of each controller in a complementary manner. First, a two-link six-muscle arm model is considered as a musculoskeletal system in this study. Second, the new set-point control method, which consists of the feedforward control signal and the feedback control signal including the time delay, is designed. Third, the stability of the proposed method is investigated using the Lyapunov–Razumikhin method. Finally, the results of numerical simulations and experiments are presented to demonstrate the advantages of the proposed method.

AB - This paper proposes a new set-point control method for a musculoskeletal arm by combining muscular internal force feedforward control with feedback control including a large time delay. The proposed method accomplishes robust and rapid positioning with a relatively small muscular force. In the positioning by the muscular internal force feedforward controller, a large muscular force is required to achieve good performance. On the other hand, in the positioning by the feedback controller including the large time delay, the system can easily fall into an unstable state. A simple linear combination of these two controllers makes it possible to improve the control performance and to overcome the drawbacks of each controller in a complementary manner. First, a two-link six-muscle arm model is considered as a musculoskeletal system in this study. Second, the new set-point control method, which consists of the feedforward control signal and the feedback control signal including the time delay, is designed. Third, the stability of the proposed method is investigated using the Lyapunov–Razumikhin method. Finally, the results of numerical simulations and experiments are presented to demonstrate the advantages of the proposed method.

UR - http://www.scopus.com/inward/record.url?scp=85044441462&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85044441462&partnerID=8YFLogxK

U2 - 10.1080/01691864.2018.1453375

DO - 10.1080/01691864.2018.1453375

M3 - Article

AN - SCOPUS:85044441462

VL - 32

SP - 1

EP - 15

JO - Advanced Robotics

JF - Advanced Robotics

SN - 0169-1864

IS - 8

ER -