TY - GEN
T1 - Adaptive tracking control of a virtual player in the mirror game
AU - Zhai, Chao
AU - Alderisio, Francesco
AU - Tsaneva-Atanasova, Krasimira
AU - Di Bernardo, Mario
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014
Y1 - 2014
N2 - The coordination of interpersonal rhythmic movements is of great significance due to its potential relevance to human motor rehabilitation. In this paper we consider the problem of designing a controller able to drive a virtual player (VP) capable of imitating and following a human player in the mirror game [1]. The classic nonlinear Haken-Kelso-Bunz (HKB) model is adopted to describe the social motor coordination between two players. An adaptive control algorithm is developed and implemented on the HKB model to drive the VP. It is proven that the position error between the VP driven by our control algorithm and the human player is upper bounded during the game. Finally, experiments are conducted on a prototype set-up in order to evaluate the performance of the proposed control algorithm and compare it with other existing algorithms.
AB - The coordination of interpersonal rhythmic movements is of great significance due to its potential relevance to human motor rehabilitation. In this paper we consider the problem of designing a controller able to drive a virtual player (VP) capable of imitating and following a human player in the mirror game [1]. The classic nonlinear Haken-Kelso-Bunz (HKB) model is adopted to describe the social motor coordination between two players. An adaptive control algorithm is developed and implemented on the HKB model to drive the VP. It is proven that the position error between the VP driven by our control algorithm and the human player is upper bounded during the game. Finally, experiments are conducted on a prototype set-up in order to evaluate the performance of the proposed control algorithm and compare it with other existing algorithms.
UR - http://www.scopus.com/inward/record.url?scp=84988269611&partnerID=8YFLogxK
U2 - 10.1109/CDC.2014.7040490
DO - 10.1109/CDC.2014.7040490
M3 - Conference contribution
AN - SCOPUS:84988269611
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 7005
EP - 7010
BT - 53rd IEEE Conference on Decision and Control,CDC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Y2 - 15 December 2014 through 17 December 2014
ER -