Practical approach of input delay nonlinear systems: Application to spinal cord injury sitting stability

Thierry-Marie Guerra (1) , Mathias Blandeau (1) , Tran Anh-Tu Nguyen (1, 2) , J. Pan

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 INSA Hauts-De-France - INSA Institut National des Sciences Appliquées Hauts-de-France

This paper is concerned with the design of an application-oriented control law for a biomechanical model of people living with spinal cord injury sitting stability. A major difficulty is to stabilize the resulting open-loop unstable nonlinear system with a delayed control input. A solution is proposed based on Padé approximation of delays to obtain a set of design conditions in the form of linear matrix inequalities which can be effectively solved by convex optimization techniques. Numerical simulations are conducted to show the effectiveness of the proposed control law compared to previous works.

Mots clés: Takagi-Sugeno fuzzy systems; Descriptor nonlinear systems; Control input delay; Padé approximation; Spinal cord injury; Sitting control

Domaines: Sciences de l'ingénieur [physics]; Automatique / Robotique

Thierry-Marie Guerra, Mathias Blandeau, Tran Anh-Tu Nguyen, J. Pan. Practical approach of input delay nonlinear systems: Application to spinal cord injury sitting stability. 5th IFAC Conference on Intelligent Control and Automation Sciences ICONS 2019, Aug 2019, Belfast, United Kingdom. pp.67-72, ⟨10.1016/j.ifacol.2019.10.001⟩. ⟨hal-03455470⟩