Title :
Models for human postural regulation that include realistic delays and partial observations
Author :
Li, Yao ; Levine, William S.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Maryland at Coll. Park, College Park, MD, USA
Abstract :
The quietly standing human is modeled by a two-segment inverted pendulum controlled by an ankle torque. Both the control and the observations are significantly delayed and corrupted by exogenous noise, as they are in reality. Three controllers of this plant are derived and compared. The first is an MPC-based controller that approximately optimizes a performance criterion that is quartic in the state and quadratic in the control. The second is an LQG optimal controller. The third is a PID controller proposed by Peterka. The controllers are shown to exhibit several of the experimentally observed phenomena related to sway.
Keywords :
control engineering computing; convex programming; delays; microcontrollers; nonlinear systems; optimal control; three-term control; torque control; LQG optimal controller; MPC based controller; PID controller; ankle torque; exogenous noise; human postural regulation; partial observations; realistic delays; two segment inverted pendulum; Acceleration; Delay; Educational institutions; Helium; Humans; Joints; Optimal control; Three-term control; Torque control; USA Councils;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400215
