Optimal Control of Sensor Based Human Arm Motion and Gesture Replication System

Optimal control stabilization of the Human arm motion and gesture replication system plays a vital role in achieving the desired characteristics of the system, especially, for minimizing the time delay as well as removing any undesired oscillations. The conventional system showed the instability in the output response after operating for a long time. However, Linear Quadratic Regulator (LQR) and State Feedback control techniques have optimally controlled the system and overcome this instability. The transient analysis for both the methods showed that State Feedback method decreased the instability to a fair degree even though some oscillation exists just before reaching stability. On the other hand, LQR technique completely removed the oscillation from the system’s response due to the shifting of poles to the left half plane. Therefore, LQR is the best suited control technique for achieving an optimal controlled system.