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How a person with spinal cord injury controls a sitting situation Unknown input observer and delayed feedback control with time-varying input delay

Abstract : This paper introduces a simplified nonlinear model to study sitting control for persons with Spinal Cord Injury. The system obtained via Lagrangian techniques is defined with a nonlinear descriptor form and written under an exact Takagi-Sugeno model. In order to stabilize this class of system that includes a time-varying input delay, a state feedback control extended from robust control theory is derived. Then, the main goal consists in being able with an Unknown Input Observer to estimate the state as well as the internal delayed control force applied.
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https://hal-uphf.archives-ouvertes.fr/hal-03411681
Contributor : Mylène Delrue Connect in order to contact the contributor
Submitted on : Tuesday, November 2, 2021 - 2:34:56 PM
Last modification on : Wednesday, November 3, 2021 - 3:53:00 AM

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Mathias Blandeau, Thierry-Marie Guerra, Philippe Pudlo, François Gabrielli, Víctor Estrada Manzo. How a person with spinal cord injury controls a sitting situation Unknown input observer and delayed feedback control with time-varying input delay. 2016 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE), Jul 2016, Vancouver, Canada. pp.2349-2356, ⟨10.1109/FUZZ-IEEE.2016.7737987⟩. ⟨hal-03411681⟩

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