@inbook{9ca190125d354bc7ab1ab1072ec4eef9,
title = "Two dimensional agonistic control with elastic tendons",
abstract = "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.",
author = "Daqing Yang and Bernard Friedland",
year = "1996",
language = "English (US)",
series = "Proceedings of the Japan/USA Symposium on Flexible Automation",
pages = "95--101",
editor = "K. Stelson and F. Oba",
booktitle = "Proceedings of the Japan/USA Symposium on Flexible Automation",
note = "Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) ; Conference date: 07-07-1996 Through 10-07-1996",
}