Towards Model-based Continuous-time Identification of the Human Balance Controller
نویسندگان
چکیده
There are a number of competing scientific hypotheses about the structure and parameters of the human control system concerned with balance. System identification techniques have potential to distinguish between such competing hypotheses. As a step towards this goal, the data from an initial series of experiments involving balancing an inverted pendulum by a human via a joystick was analysed using a recently-developed two-stage continuous-time identification method.
منابع مشابه
Dynamic Simulation and Control of a Continuous Bioreactor Based on Cell Population Balance Model
Saccharomyces cerevisiae (baker’s yeast) can exhibit sustained oscillations during the operation in a continuous bioreactor that adversely affects its stability and productivity. Because of heterogeneous nature of cell populations, the cell population balance equation (PBE) can be used to capture the dynamic behavior of such cultures. In this work, an unstructured-segregated model is used f...
متن کاملAdaptive Predictive Controllers Using a Growing and Pruning RBF Neural Network
An adaptive version of growing and pruning RBF neural network has been used to predict the system output and implement Linear Model-Based Predictive Controller (LMPC) and Non-linear Model-based Predictive Controller (NMPC) strategies. A radial-basis neural network with growing and pruning capabilities is introduced to carry out on-line model identification.An Unscented Kal...
متن کاملPDC Control of Time Delay Fuzzy T-S modeled HIV-1 System through Drug Dosage
This paper proposes a Time Delay nonlinear dynamic model of HIV-1 (Human Immunodeficiency Virus type 1), introducing the drug consumption efficiencies as the controlling input for the model. The paper also represents the fuzzy T-S representation and the corresponding Fuzzy T-S controller. The controller parameters are tuned using LMIs (Linear Matrix Inequalities). The main focus is on the stabi...
متن کاملRobust Controller Design Based-on Aerodynamic Load Simulator Identification Driven by PMSM for Hardware-in-the-Loop Simulations
Aerodynamic load simulators generate the required time varying load to test the actuator’s performance in the laboratory. Electric Load Simulator (ELS) as one of variety of the dynamic load simulators should follows the rotation of the Under Test Actuator (UTA) and applies the desired torque to UTA’s rotor at the same time. In such a situation, a very large torque is imposed to the ELS from the...
متن کاملReconstructing human push recovery reactions using a three dimensional under-actuated bipedal robot
This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...
متن کامل