/adaptive-natural-osicllator

control and simulation for an exo-skeleton LEXO from STARX @ U-M

Primary LanguageMATLABMIT LicenseMIT

LEXO-ANO

control and simulation for an exo-skeleton LEXO from STARX @ U-M
This is a simple demo of our control and parameters are not tuned yet.

Instruction

Run ANO_sim\Ano_sim.m to see state space simulation of the Adaptive Natural Oscillator.

Results

Position tracking and frequency convergence under Gaussian disturbance.

Tracking a sine wave with converging frequency

ANO-tracking

State-space plot of two trajectories with random initial position

ANO-state-space

TODO:

visualize the oscillator in a two-link robot.

Reference

  1. The built-in simulator of this project is developed by jakub-kaminski
  2. The Adaptive Natural Oscillator.
  3. Theoretical analysis of the Adaptive Frequency Oscillator.