Two dimensional agonistic control with elastic tendons

Daqing Yang, Bernard Friedland

Research output: Chapter in Book/Report/Conference proceedingChapter


Agonistic control is a method of positioning an object by pulling on it with multiple tendons. In this paper, we study the modeling and control of two dimensional agonistic control system with elastic tendons. The trajectory tracking problem is considered. This investigation shows that the effect of elastic tendons can be compensated for by appropriately modifying the control law designed for inelastic tendons. In particular, the control law is synthesized using the singular perturbation method. It consists of a fast control and a slow control. The fast control is used to stabilize the oscillations incurred by the finite elasticity of the tendon. The slow control drives the system to track the desired trajectory. Robustness of the controller is enhanced by using sliding mode control.

Original languageEnglish (US)
Title of host publicationProceedings of the Japan/USA Symposium on Flexible Automation
EditorsK. Stelson, F. Oba
Number of pages7
StatePublished - Dec 1 1996
EventProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA
Duration: Jul 7 1996Jul 10 1996


OtherProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2)
CityBoston, MA, USA

All Science Journal Classification (ASJC) codes

  • Engineering(all)


Dive into the research topics of 'Two dimensional agonistic control with elastic tendons'. Together they form a unique fingerprint.

Cite this