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The article presents the process of designing a mathematical model of the human arm. Modelling arm consists of two joints connected by the rotational link. Each of them is represented as a rectangular prism which changes shape during the movement. The moment of shape change depends on the two-state coordinates: the angular displacement q1 and q2. Based on the analysis of the arm movement, a mathematical...
This article presents the analysis of a mathematical model of human arm's dynamics in terms of observability. The research is conducted in search of an observer which gives the possibility of arm tracking. The arm's model is based on a two-link manipulator able to move in horizontal and vertical planes. Model is analyzed after linearization and omittance of muscles representing part. The experimental...
The main purpose of the paper is to discuss controllability problem for infinite-dimensional fractional linear discrete-time control systems. Moreover, the minimum energy control problem of infinite-dimensional fractional-discrete time linear systems is also addressed. Using theory of linear operators necessary and sufficient conditions for the exact controllability of the system are established....
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