Control model of postural stability using LQR and fuzzy logic controller

Author

Wang, Qingiun ; He, Jiping

Author_Institution

Whitaker Center for Neuromech. Control, Arizona State Univ., Tempe, AZ, USA

Volume

1

fYear

1999

fDate

1999

Abstract

A combination of linear quadratic regulator (LQR) and fuzzy logic controller (FLC) is implemented to control a 4-segment human model under external perturbations. The LQR is constructed for fine tuning of the equilibrium using full state feedback control. The FLC is designed to regulate the postural stability based on the center of mass location and velocity. In FLC, 28 fuzzy if-then rules are implemented. The combination of LQR and FLC makes the design of both controllers much easier and the result is superior to either alone

Keywords

biocontrol; fuzzy control; inference mechanisms; linear quadratic control; mechanoception; muscle; neurophysiology; physiological models; state feedback; 4-segment human model; LQR controller; center of mass location; center of mass velocity; control model; controller design; external perturbations; fine tuning of equilibrium; full state feedback control; fuzzy if-then rules; fuzzy logic controller; global sensory feedback; joint torque; local sensory feedback; postural stability; reasoning; Biological system modeling; Control systems; Electromyography; Foot; Fuzzy control; Fuzzy logic; Fuzzy sets; Humans; Muscles; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

[Engineering in Medicine and Biology, 1999. 21st Annual Conference and the 1999 Annual Fall Meetring of the Biomedical Engineering Society] BMES/EMBS Conference, 1999. Proceedings of the First Joint

Conference_Location

Atlanta, GA

ISSN

1094-687X

Print_ISBN

0-7803-5674-8

Type

conf

DOI

10.1109/IEMBS.1999.802614

Filename

802614