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Optimal Coordination and Control of Posture and Movements

På svenska

Author

Summary, in English

This paper presents a theoretical model of stability and coordination of posture and locomotion, together with algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are obtained by solving an algebraic matrix equation. The stability is investigated with Lyapunov function theory and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution describes motion strategies of minimum effort and variance. The proposed optimal control is formulated to be suitable as a posture and movement model for experimental validation and verification. The combination of adaptive and optimal control makes this algorithm a candidate for coordination and control of functional neuromuscular stimulation as well as of prostheses. Validation examples with experimental data are provided.

Publishing year

2009

Language

English

Pages

159-177

Publication/Series

Journal of Physiology - Paris

Volume

103

Document type

Journal article

Publisher

Elsevier

Topic

  • Otorhinolaryngology

Status

Published

Project

  • ROSETTA

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 1769-7115