Cascade Stabilization and Reference Tracking of a Simple Nonlinear Limb Model

D. Csercsik, G. Szederkényi, and K.M. Hangos (Hungary)


Biomedical Modelling, Musculoskeletal control, Non linear Control, Backstepping.


The stabilizing control of an elbow-like nonlinear limb model is described in this paper. The control design method is based on linearization and backstepping using the special cascade structure of the system. Using the proposed control structure, a regulation and a trajectory tracking problem are solved with known control Lyapunov function. It is shown that the control inputs satisfy the previously defined physi cal constraints.

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