AN ACTIVE DISTURBANCE REJECTION APPROACH TO THE HUMAN POSTURAL SWAY CONTROL PROBLEM

A fundamental, open, issue pertaining to Human Postural Sway is how to deal with the uncertain, nonlinear and time-varying nature of human motor dynamics. To address this issue, in the present thesis, the body is regarded as a single-link inverted pendulum with movement at the ankle joint controlled by the human postural control system. In patients with neurological impairment, this function might be restored by functional electrical stimulation. A critical part of such a neural prosthesis is the control algorithm. The control techniques used for such nonlinear dynamic systems should be tolerant to significant variations in the mechanics of human motion. To address the inherent limitations of the current methods, such as PID and model based designs, the active disturbance rejection concept is introduced with the aim to make the control system as model independent as possible. It is shown that the resulting new controller yields excellent performance even with significant changes in the plant dynamics.

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