Stability properties of a pneumatic-actuated rehabilitation system

作者：Fathi Morteza^*; Najafi Farid

来源：Proceedings of the Institution of Mechanical Engineers Part I-Journal of Systems and Control Engineering, 2016, 230(9): 943-961.

DOI：10.1177/0959651816660219

• Servo pneumatic systems
• dynamic modeling
• stability control systems
• actuators
• control analysis

Affected by discontinuous nature of the discrete controller and patients' different characteristics, the stability analysis in servo pneumatic rehabilitation systems remains a challenge. Hence, the authors propose an approach to obtain stability boundaries of the admittance controller parameters so that a compliant interaction can be ensured. As the zero-order hold function adds nonlinear exponential terms to the continuous transfer function of the system, a discrete closed-loop root-locus analysis is presented describing how the changes in patients' characteristics and system parameters shift the stability boundaries. The reasonable matches between the analytical and experimental stability boundaries demonstrate that the presented approach is reliable.

• 出版日期2016-10