Fuzzy unknown input observer for understanding sitting control of persons living with spinal cord injury

The present paper introduces a simple model to study sitting control for persons with complete thoracic spinal 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 estimat...

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Bibliographic Details
Published in:Engineering applications of artificial intelligence 2018-01, Vol.67, p.381-389
Main Authors: Blandeau, M., Estrada-Manzo, V., Guerra, T.M., Pudlo, P., Gabrielli, F.
Format: Article
Language:English
Subjects:
Automatic
Descriptor form
Engineering Sciences
Inverted pendulum
Sitting movement
Spinal Cord injury
Takagi–Sugeno models
Unknown input observer
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Summary:The present paper introduces a simple model to study sitting control for persons with complete thoracic spinal 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.
ISSN:0952-1976
1873-6769
DOI:10.1016/j.engappai.2017.09.016