An alternative to inverse dynamics joint torques estimation in human stance based on a Takagi-Sugeno unknown inputs observer in the descriptor form - Archive ouverte HAL
Article Dans Une Revue Control Engineering Practice Année : 2008

An alternative to inverse dynamics joint torques estimation in human stance based on a Takagi-Sugeno unknown inputs observer in the descriptor form

Résumé

An alternative to inverse dynamics joint torques estimation in human stance is proposed. This alternative is based on unknown-input observers which allow real-time estimation of joint torques and angular velocities from measurements of the angular positions. To design the aforementioned observer, a nonlinear state-space dynamical descriptor model is proposed. The descriptor model is then written into the form of a Takagi-Sugeno (T-S) model, from which a T-S observer in the descriptor form is designed. Then, convergence of the estimation errors (in position, velocities and torques) is established using a quadratic Lyapunov function through LMI conditions. Finally, the proposed approach is successfully compared with commonly used inverse dynamics joint torques estimation.
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Dates et versions

hal-00793233 , version 1 (21-02-2013)

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Kevin Guelton, Sebastien Delprat, Thierry-Marie Guerra. An alternative to inverse dynamics joint torques estimation in human stance based on a Takagi-Sugeno unknown inputs observer in the descriptor form. Control Engineering Practice, 2008, 16 (12), pp.1414-1426. ⟨10.1016/j.conengprac.2008.04.002⟩. ⟨hal-00793233⟩
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