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Progress in Intelligent Computing Techniques: Theory, Practice, and Applications pp 379–388Cite as

Introducing MIT Rule Toward Improvement of Adaptive Mechanical Prosthetic Arm Control Model

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 518))

Abstract

The article represents MRAC strategies for controlling a mechanical prosthetic arm utilizing gradient method MIT rule. Depending on the uncertainty parameters like mass of the mechanical arm, friction constant and spring constant, an adaptive controller is designed and outlined. MIT rule has been applied to this second-order system, and simulation is done in MATLAB-Simulink for various estimation of adaptation gain. With the changes in adaptation gain, the adaptation mechanisms are changed and results are analyzed. Variation in the parameters should be in the specified range for MIT rule. Further Lyapunov stability approach has been applied to the closed-loop dynamics to ensure global stability on variation of plant parameters.

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References

  1. P.M. Rossini et.al., The Italian Tribune Newspaper, July 21, 2010. http://theitaliantribune.com/?p=119.

  2. Neogi B., Ghosal S., Ghosh S., Bose T.K., Das. A., “Dynamic modeling and optimizations of mechanical prosthetic arm by simulation technique” Recent Advances in Information Technology (RAIT), IEEE Xplore, pp. 883–888, March 2012.

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Acknowledgements

Authors are grateful to TEQIP-II Scheme of JIS College of Engineering for funding this research.

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Authors and Affiliations

  1. JIS College of Engineering, Kalyani, West Bengal, India

    Biswarup Neogi, S. K. Sanaul Islam & Pritam Chakraborty

  2. Narula Institute of Technology, Sodepur, West Bengal, India

    Swati Barui

  3. Kalyani Government Engineering College, Kalyani, West Bengal, India

    Achintya Das

Authors
  1. Biswarup Neogi
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  2. S. K. Sanaul Islam
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  3. Pritam Chakraborty
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  4. Swati Barui
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  5. Achintya Das
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Corresponding author

Correspondence to Biswarup Neogi .

Editor information

Editors and Affiliations

  1. National Institute of Technology, Dept. of Computer Science & Engineering National Institute of Technology, Rourkela, Odisha, India

    Pankaj Kumar Sa

  2. National Institute of Technology, Dept. of Computer Science & Engineering National Institute of Technology, Rourkela, Odisha, India

    Manmath Narayan Sahoo

  3. Universiti Malaysia Perlis (UniMAP), School of Mecahtronics Engineering Universiti Malaysia Perlis (UniMAP), Arau, Perlis, Malaysia

    M. Murugappan

  4. The University of Exeter, Lecturer The University of Exeter, Exeter, Devon, United Kingdom

    Yulei Wu

  5. National Institute of Technology, Dept. of Computer Science & Engineering National Institute of Technology, Rourkela, Odisha, India

    Banshidhar Majhi

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© 2018 Springer Nature Singapore Pte Ltd.

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Neogi, B., Islam, S.K.S., Chakraborty, P., Barui, S., Das, A. (2018). Introducing MIT Rule Toward Improvement of Adaptive Mechanical Prosthetic Arm Control Model. In: Sa, P., Sahoo, M., Murugappan, M., Wu, Y., Majhi, B. (eds) Progress in Intelligent Computing Techniques: Theory, Practice, and Applications. Advances in Intelligent Systems and Computing, vol 518. Springer, Singapore. https://doi.org/10.1007/978-981-10-3373-5_38

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  • DOI: https://doi.org/10.1007/978-981-10-3373-5_38

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-3372-8

  • Online ISBN: 978-981-10-3373-5

  • eBook Packages: EngineeringEngineering (R0)

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