Biomimetic Control of Mechanical Systems Equipped with Musculotendon Actuators

作     者：Javicr Moreno-Valenzuel Adriana Salinas-Avila 

作者机构：Instituto Politecnico Naoional-CITEDl Av. del Parque 1310 Mesa de Otay Tianjuana B.C. 22510 Mexico 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2011年第8卷第1期

页      面：56-68页

核心收录：

学科分类：12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 081104[工学-模式识别与智能系统] 082601[工学-武器系统与运用工程] 08[工学] 0826[工学-兵器科学与技术] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：CONACyT and SIP-IPN  Mexico. The authors also wish to thanks Dr. F. Zajac for his valuable answers related to the musculotendon model and Dr. A. Papachristodoulou for his generous help with SOSTOOLS 

主　　题：biomimetie control musculotendon dynamics neural excitation saturation switched systems 

摘      要：This paper addresses the problem of modelling, control, and simulation of a mechanical system actuated by an agonist-antagonist musculotendon subsystem. Contraction dynamics is given by case 1 of Zajac＇s model. Saturated semi positive proportional-derivative-type controllers with switching as neural excitation inputs are proposed. Stability theory of switched system and SOSTOOLS, which is a sum of squares optimization toolbox of Matlab, are used to determine the stability of the obtained closed-loop system. To corroborate the obtained theoretical results numerical simulations are carried out. As additional contribution, the discussed ideas are applied to the biomimetic control of a DC motor, i.e., the position control is addressed assuming the presence of musculotendon actuators. Real-experiments corroborate the expected results.