An H∞ Control Model of Human Postural Control in Quiet Upright Standing

摘要：

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.

关键词： human postural control H∞ control LMI CNS SDF.

作者: Yanhua Yang Lili Pei Hongyi Li

作者单位: State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shen State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shen Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 110016, P.R. China

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 2488-2491

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）