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Communication Dans Un Congrès Année : 2008

Optimal control of a neuromusculoskeletal model: a second order sliding mode solution

Résumé

The objective in neuromusculoskeletal simulation consists in finding a set of muscles excitations in order to produce the desired motion and is an exciting challenge for medical operators. In this paper, muscle excitations are computed by using a second order sliding mode controller which is optimal with respect of a functional cost based on the tracking error and the torque square. The proposed strategy was tested using a two-dimensional human anthropomorphic arm composed of two joints and six muscles.
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Dates et versions

hal-00520405 , version 1 (23-09-2010)

Identifiants

Citer

Carlos Rengifo, Franck Plestan, Yannick Aoustin. Optimal control of a neuromusculoskeletal model: a second order sliding mode solution. International Workshop on Variable Structure Systems, 2008., Jun 2008, Antalya, Turkey. pp.55 -- 60, ⟨10.1109/VSS.2008.4570682⟩. ⟨hal-00520405⟩
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