Page 99 - Handbook of Biomechatronics

CHAPTER FOUR

Model-Based Control of

Biomechatronic Systems

Naser Mehrabi*, John McPhee †
*University of Washington, Seattle, WA, United States
†
Systems Design Engineering, University of Waterloo, Waterloo, ON, Canada
Contents

1 Biomechatronic System Models 95
1.1 Mechatronic System Modeling 96
1.2 Biomechanical Modeling 96
1.3 Integrated Biomechatronic Models 100
2 Model-Based Control Design 101
2.1 Model-Based Open-Loop Control 101
2.2 Model-Based Closed-Loop Control 103
3. Case Study: Design of Population-Based Electric Power Steering Systems 108
3.1 Introduction 109
3.2 Dynamic Model of Biomechatronic System 110
3.3 Electric Power Steering (EPS) Control Design 116
3.4 Simulation Results 118
4 Conclusions 122
References 123
Further Reading 126

1 BIOMECHATRONIC SYSTEM MODELS
Biomechatronics is an applied multidisciplinary science that integrates
biology, mechanics, and electronics to develop devices that support and
assist humans. Based on this broad definition, biomechatronic devices
include a wide range of applications, from human prostheses and exoskele-
tons to driver-assist systems in vehicles. These devices usually consist of a
mechanical system actuated with electrical actuators, wherein a controller
coordinates the mechatronic system response based on the user’s intention
and predefined logic. In this chapter, we focus on the model-based design of
these controllers.

Handbook of Biomechatronics © 2019 Elsevier Inc. 95
https://doi.org/10.1016/B978-0-12-812539-7.00004-0 All rights reserved.