Title :
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
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;
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
Print_ISBN :
0-7803-5674-8
DOI :
10.1109/IEMBS.1999.802614
