Global Stability Analysis of Mechanical Prosthetic Finger Adaptive Control

Pritam CHAKRABORTY1, Swati BARUI2, Achintya DAS3, Biswarup NEOGI4
1 ST Mary Technical Campus, Kolkata, Barasat, West Bengal – 700120
2 Narula Institute of Technology, Agarpara, Kolkata, West Bengal 700109
3 Kalyani Government Engineering College, Kalyani, West Bengal India – 741235
4 JIS College of Engineering, Kalyani, West Bengal India – 741235

Abstract: This technical note presents a discussion on the dynamic modeling and analysis of the adaptive controller of a Mechanical Prosthetic finger with constraints mass (m) of the mechanical finger and constant friction (K1) with variation in spring constraint (K2) parameter during grasping action. For the design of the adaptive controller and assessment of adaptation gain, an underdamped second-order control system has been considered and variation of adaptation gain (γ) within certain pre-defined limits of system parameters, variation in the adaptation mechanism has been analyzed using Gradient method MIT rule. To ensure global stability along with the convergence on nonconformity of plant parameters Lyapunov Rule has been utilized towards closed-loop asymptotic tracking.

Keywords: Mechanical Prosthetic finger, Adaptive model, Gradient method MIT rule, Lyapunov Rule, Global Stability.

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Pritam CHAKRABORTY, Swati BARUI, Achintya DAS, Biswarup NEOGI, Global Stability Analysis of Mechanical Prosthetic Finger Adaptive Control, Romanian Journal of Information Technology and Automatic Control, ISSN 1220-1758, vol. 32(1), pp. 33-44, 2022.