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

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

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

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.

Mots clés: "Delays"; "Biological system modeling"; "Force"; "Muscles"; "Observers"; "Stability analysis"; "Mathematical model"

Domaines: Automatique / Robotique

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⟩