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

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	An H∞ Control Model of Human Postural Control in Quiet Upright Standing
	Yang YH(杨艳华); Pei LL(裴立力); Li HY(李洪谊)
	2011
会议名称	2011 Chinese Control and Decision Conference, CCDC 2011
会议日期	May 23-25, 2011
会议地点	Mianyang, China
关键词	human postural control H control LMI CNS SDF
页码	2483-2486
中文摘要	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 Hinfinstate 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 Hinfinstate 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 Hinfincontroller so that the closed-loop system is exponentially stable with a prescribed Hinfinperformance 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 Hinfinstate feedback controller is commendably used to model human CNS of postural control in quiet upright standing and synchronously varying time delay is considered.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE Control Systems Society (CSS); IEEE Industrial Electronics Society (IES); Automatic Control Society of Chinese Association of Aeronautics; Simul. Methods Model. Soc. Chin. Assoc. Syst. Simul.; Intell. Control Manage. Soc., Chin. Assoc. Artif. Intell.
会议录	Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4244-8736-3
WOS记录号	WOS:000323234701200
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8569]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Yang YH,Pei LL,Li HY. An H∞ Control Model of Human Postural Control in Quiet Upright Standing[C]. 见:2011 Chinese Control and Decision Conference, CCDC 2011. Mianyang, China. May 23-25, 2011.