Unknown Input Observer for Understanding Sitting Control of Persons with Spine Cord Injury

Mathias Blandeau (1) , Víctor Estrada Manzo , Thierry-Marie Guerra (1) , Philippe Pudlo (1) , François Gabrielli

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

The present paper introduces a simple model to study sitting control for persons with complete thoracic spine cord injury. The system is obtained via Lagrangian techniques; this procedure leads to a nonlinear descriptor form, which can be written as a Takagi-Sugeno model. A first attempt to estimate the sitting control in disabled people is done via an unknown input observer. The conditions are expressed as linear matrix inequalities, which can be efficiently solved. Simulation results validate the proposed methodology as the observations are coherent with and without perturbations.

Domaines: Automatique / Robotique

Mathias Blandeau, Víctor Estrada Manzo, Thierry-Marie Guerra, Philippe Pudlo, François Gabrielli. Unknown Input Observer for Understanding Sitting Control of Persons with Spine Cord Injury. IFAC ICONS, Jun 2016, Reims, France. pp.175-181, ⟨10.1016/j.ifacol.2016.07.109⟩. ⟨hal-03407176⟩