DocumentCode :
427597
Title :
Robust stabilization in a single-link biomechanical model: a time-domain analysis
Author :
Iqbal, Kamran ; Roy, Anindo
Author_Institution :
Dept. of Syst. Eng., Arkansas Univ., Little Rock, AR
Volume :
1
fYear :
0
fDate :
0-0 0
Firstpage :
847
Abstract :
In this paper we analyze the robust stabilization of posture in a single-link biomechanical model with force feedback, dual position and velocity feedback, and with delays in all the three feedback loops. The model is physiologically motivated and represents gross approximation of the human neuromusculoskeletal system in the sagittal plane. The feedback paths in the model represent proprioceptive feedback from muscle spindle (MS) and the Golgi tendon organ (GTO), and include the latencies present in the physiological system. Lyapunov functional approach is used to guarantee asymptotic stability with arbitrary feedback delays. The approach leads to linear matrix inequality (LMI)-based delay-independent conditions requiring solution of a set of finite-dimensional algebraic Riccati inequalities. The framework can be extended to Hinfin feedback control synthesis for single and multi-link robotic models with state or feedback delays
Keywords :
Lyapunov methods; Riccati equations; asymptotic stability; delays; feedback; gait analysis; linear matrix inequalities; physiological models; time-domain analysis; Golgi tendon organ; Lyapunov functional approach; arbitrary feedback delays; asymptotic stability; finite-dimensional algebraic Riccati inequalities; human neuromusculoskeletal system; linear matrix inequality-based delay-independent conditions; muscle spindle; proprioceptive feedback; robust stabilization; single-link biomechanical model; time-domain analysis; Asymptotic stability; Delay; Feedback loop; Force feedback; Humans; Muscles; Neurofeedback; Robustness; Tendons; Time domain analysis;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 2004 IEEE International Conference on
Conference_Location :
The Hague
ISSN :
1062-922X
Print_ISBN :
0-7803-8566-7
Type :
conf
DOI :
10.1109/ICSMC.2004.1398408
Filename :
1398408
Link To Document :
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