Human-Like Robot Arm Robust Nonlinear Control Using a Bio-inspired Controller with Uncertain Properties

摘要

This work focuses on a nonlinear robust control of a human arm-like robot arm by using a bio-inspired method based human arm musculoskeletal characteristics, mainly consisting of multi-joint viscosity and multi-joint stiffness. The multi-joint viscosity and multi-joint stiffness are used in designing a bio-inspired operator controller, and the time-varying on estimated human arm multi-joint viscoelasticity (HAMV) data is fed to the designed controller in simulation. Using the designed control architecture, the sufficient robust stable conditions are derived in the presence of uncertainties of modelling and measurement errors, and the control output tracking performance is also realized.