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

  • Biswarup Neogi
  • S. K. Sanaul Islam
  • Pritam Chakraborty
  • Swati Barui
  • Achintya Das
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (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.

Keywords

Prosthetic arm Model reference adaptive control Gradient method MIT rule Lyapunov rule 

Notes

Acknowledgements

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

References

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Copyright information

© Springer Nature Singapore Pte Ltd. 2018

Authors and Affiliations

  • Biswarup Neogi
    • 1
  • S. K. Sanaul Islam
    • 1
  • Pritam Chakraborty
    • 1
  • Swati Barui
    • 2
  • Achintya Das
    • 3
  1. 1.JIS College of EngineeringKalyaniIndia
  2. 2.Narula Institute of TechnologySodepurIndia
  3. 3.Kalyani Government Engineering CollegeKalyaniIndia

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