Global Stability Analysis of Mechanical Prosthetic Finger Adaptive Control

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 (K-1) with variation in spring constraint (K-2) 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 (gamma) 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.