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On Control of Human Arm Switched Dynamics

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Man–Machine Interactions 4

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 391))

Abstract

In this paper, the analysis of switched human dynamics is shown. The analysis concerns the use of fractional-order \(PI^{\mu }D^{\lambda }\) controller and integer-order PID controller. The above-mentioned controllers are applied to control the non-linear plant, which is the human arm. The control object is described as a non-linear continuous-time switched system. The switching rule is state-dependent. At the end of the article, illustrative examples are presented. The examples show the influence of fractional order controller parameters on the quality of the responses to a given input signal.

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Acknowledgments

The research presented here were funded by the Silesian University of Technology grant BK-227/RAu1/2015/2.

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Authors and Affiliations

  1. Institute of Automatic Control, Silesian University of Technology, Gliwice, Poland

    Artur Babiarz

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  1. Artur Babiarz
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Correspondence to Artur Babiarz .

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Editors and Affiliations

  1. Institute of Informatics, Silesian University of Technology, Gliwice, Poland

    Aleksandra Gruca

  2. Institute of Informatics, Silesian University of Technology, Gliwice, Poland

    Agnieszka Brachman

  3. Institute of Informatics, Silesian University of Technology, Gliwice, Poland

    Stanisław Kozielski

  4. Institute of Informatics, Silesian University of Technology, Gliwice, Poland

    Tadeusz CzachĂłrski

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Babiarz, A. (2016). On Control of Human Arm Switched Dynamics. In: Gruca, A., Brachman, A., Kozielski, S., Czachórski, T. (eds) Man–Machine Interactions 4. Advances in Intelligent Systems and Computing, vol 391. Springer, Cham. https://doi.org/10.1007/978-3-319-23437-3_12

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  • DOI: https://doi.org/10.1007/978-3-319-23437-3_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-23436-6

  • Online ISBN: 978-3-319-23437-3

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