Structured Uncertainty Modeling, Control Synthesis & Tracking of Coordinated Fingers Movement

Abstract

A control paradigm can be created by the coordinated movement of the fingers with the central nervous system. In this paper we added a structured uncertainty to a system to study and investigate a biomechanical model of reflexive movement of human ring finger when the little finger is bent. We then applied a robust feedback H∞ control synthesisd by combining a full order estimator with a full information controller to achieve stable results. Structured uncertainties have been incorporated using µ-synthesis. Analysis with the help of µ-synthesis generates a better modeling and control strategy for a movement coordination of human fingers. We also introduced the reference input tracking problem for the model. We simulated the model for studying stability analysis and for comparison of performance. The simulation results help in understanding the coordination of human fingers with central nervous system which can be utilized in application of active prosthetics.