Optimal Linear Quadratic Gaussian Torque Controller (LQG) for upper limb rehabilitation

• Main Authors: Ahmed Mounis, Shawgi Younis, Zainul Azlan, Norsinnira, Fatai, Sado
• Format: Conference or Workshop Item
• Language: English; English
• Published: 2020
• Subjects: T Technology (General)
• Online Access: http://irep.iium.edu.my/80029/1/80029%20Optimal%20Linear%20Quadratic%20Gaussian%20Torque.pdf; http://irep.iium.edu.my/80029/2/80029%20Optimal%20Linear%20Quadratic%20Gaussian%20Torque%20SCOPUS.pdf; http://irep.iium.edu.my/80029/; https://ieeexplore.ieee.org/document/8952057

With the increasing numbers of degrees of freedom (DOF), modeling and control of the upper-limb robotic devices become significantly challenging. Model uncertainties, parameter inaccuracies, and incompletely known frictional effects also become inevitable, leading to the need for robust control...