| Autor: |
C. Alvarez Picaza, Jorge E. Monzon, María Inés Pisarello |
| Rok vydání: |
2017 |
| Předmět: |
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| Zdroj: |
VII Latin American Congress on Biomedical Engineering CLAIB 2016, Bucaramanga, Santander, Colombia, October 26th-28th, 2016 ISBN: 9789811040856 |
| DOI: |
10.1007/978-981-10-4086-3_141 |
| Popis: |
We present an alternative analysis for the energy optimization and system stability in servomotors that drive biomechanical prostheses using a LQR (Linear Quadratic Regulator) controller. The model is designed in the state space, and we use the Lyapunov Function as a parameter of the system stability. From the observation of the dynamical response and transition of the system variables, angular position, angular velocity and armature current of the model, we found that the use of LQR with its respective controlling action generates in the system a convergence to an equilibrium point xe in less than 3 seconds, ensuring stability with a shorter trajectory. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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