Fuzzy reduced order observer-controller design for biomechanical sit-to-stand movement
Fuzzy reduced order observer-controller design for biomechanical sit-to-stand movement
复制标题
用于生物力学坐站运动的模糊降阶观察器控制器设计
DOI：
10.1109/smc.2016.7844733
复制
发表时间：
2016
期刊：
影响因子：
--
通讯作者：
K. Iqbal
中科院分区：
文献类型：
--
作者：
A. Mughal;K. Iqbal
生物力学的坐-站（STS）任务的成功执行结合了一个向前推力阶段，向上延伸阶段和稳定的运动终止。我们以前已经开发了一个模糊动态模型来分析STS任务加入两个局部线性模型，定义在平衡位置，通过高斯隶属函数。局部线性模型从矢状面中人体动力学的四段生物力学表示获得。我们的模糊控制器模型使用一个观察员重建速度数据从噪声观测关节位置。在这项研究中，我们提出了一个降阶观测器与STS任务的最优控制器设计。模糊最优控制器产生的反馈和前馈组件的联合扭矩，其中后者是来自一个参考轨迹。我们的运动控制策略采用模糊降阶观测器与模糊控制器导致生理上听话的模拟STS运动的结果是上级那些以前获得的全阶补偿。
Successful execution of biomechanical sit-to-stand (STS) task combines a forward thrust phase with an upward extension phase and stable movement termination. We have previously developed a fuzzy dynamic model to analyze the STS task by joining two local linear models, defined at the equilibrium positions, via Gaussian membership functions. The local linear models were obtained from a four-segment biomechanical representation of the human body dynamics in the sagittal plane. Our fuzzy controller model uses an observer to reconstruct velocity data from noisy observation of joint positions. In this study, we propose a reduced order observer with an optimal controller design for the STS task. The fuzzy optimal controller generates feedback and feedforward components of joint torques, whereby the latter are derived from a reference trajectory. Our movement control strategy employing fuzzy reduced order observer with fuzzy controller leads to physiologically tractable simulation of the STS movement with results that are superior to those previously obtained with full order compensators.