NDLI: An H∞, control model of human postural control in quiet upright standing

Content Provider	IEEE Xplore Digital Library
Author	Yanhua Yang Lili Pei Hongyi Li
Copyright Year	2011
Description	Author affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 110016, P.R. China (Yanhua Yang; Lili Pei) \|\| Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 110016, P.R. China (Hongyi Li)
Abstract	An understanding of human postural control in quiet upright standing is very valuable for human being. This paper proposes a new control model of human postural control in quiet upright standing. An H∞ state feedback control problem is proposed as a mathematical model of human postural control during quiet upright standing. An inverted pendulum controlled by a joint torque is used to model the human body and an H∞ state feedback controller is used to model the central nervous system (CNS). At the same time, time-varying delay is considered. Then, the problem addressed here is design of a state feedback H∞ controller so that the closed-loop system is exponentially stable with a prescribed H∞ performance and can simulate human CNS in postural control in term of linear matrix inequality (LMI). Finally, the Stabilogram Diffusion Function (SDF) is used to analyze the results, which demonstrates the validity of the proposed design approach. The major contributions of this method are that an H∞ state feedback controller is commendably used to model human CNS of postural control in quiet upright standing and synchronously varying time delay is considered.
Starting Page	2483
Ending Page	2486
File Size	218423
Page Count	4
File Format	PDF
ISBN	9781424487370
e-ISBN	9781424487387
DOI	10.1109/CCDC.2011.5968626
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-23
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	State feedback human postural control Delay effects Biological system modeling SDF H∞ control Humans LMI CNS Mathematical model Joints Delay
Content Type	Text
Resource Type	Article

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