Professor of Mechanical Engineering and Smart Structures, School of Computing Engineering and Mathematics, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
Abstract—This paper presents an application of controller design using sinusoidal-input describing function (SIDF) for a two-link robotic orthosis, which is a non-linear multivariable system. A controller based on closed-form solution of lead-lag compensator is generated via unified approached technique. The performance of the controller is evaluated with step response, tracking and decoupling qualities as well as the trajectories tracking and this is compared with the conventional PID controller.
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