Abstract
A combination of linear quadratic regulator (LQR) and fuzzy logic controller (FLC) is implemented to control a 4-segment human model under external perturbations. The model contains the major nonlinear dynamics of the physiological system and the time delays in the sensory feedback pathways. Two nonlinear springs with damping are used to simulate the foot-ground interaction. The model is free to float off ground with either toe up or heel up in responding to a perturbation. The LQR is constructed for full state feedback control and fine tuning of the equilibrium. The FLC is designed to regulate the postural stability based on the center of mass (CoM) location. The combination of LQR and FLC makes the design of both controllers much easier and the result is superior to either alone.
Published Version
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