Adaptive tracking control of a virtual player in the mirror game

Chao Zhai, Francesco Alderisio, Krasimira Tsaneva-Atanasova, Mario Di Bernardo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

16 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication53rd IEEE Conference on Decision and Control,CDC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7005-7010
Number of pages6
EditionFebruary
ISBN (Electronic)9781479977468
DOIs
StatePublished - 2014
Externally publishedYes
Event2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States
Duration: 15 Dec 201417 Dec 2014

Publication series

NameProceedings of the IEEE Conference on Decision and Control
NumberFebruary
Volume2015-February
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014
Country/TerritoryUnited States
CityLos Angeles
Period15/12/1417/12/14

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