Generalized Udwadia-Kalaba Based Robust Control for Human-Machine Systems with Inequality Constraints

The existing human-machine system is limited to processing only equality constraints. To address this limitation, this paper proposes a controller capable of handling both equality and inequality constraints. Leveraging the Generalized Udwadia-Kalaba theory, the designed controller enables the human-machine system to effectively manage these constraints. Simulation results validate the feasibility and effectiveness of the proposed method.