Control Systems Design: An Introduction to State-Space Methods
Control Systems Design: An Introduction to State-Space Methods
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This paper discusses the human postural control as an interdisciplinary problem. The goal of posture control is to maintain the orientation of the body upright. Two main approaches are presented to address the problem: neurological and engineering. Tackling the problem from the two perspectives aims to shed light on possible tools and techniques that may be borrowed from one field to the other. Accordingly, the two approaches are detailed first and then compared and linked. In the previously established neurological approach, the problem is described, main sensory systems are identified, sensor fusion is suggested, a control system architecture in most basic form is presented, and simulations and experiments on a special-purpose humanoid were performed yielding results similar to human performance. The engineering approach aims to yield a deeper understanding of the neurological perspective. In currently applied first steps regarding this approach, the humanoid parameters are identified, its dynamic model is derived, an external-disturbance estimation method is presented, a control concept for stabilizing the body motion and then for robust tracking of voluntary motion in the presence of external disturbances is shown in simulations. The simulation results demonstrate the validity and merits of this engineering approach. Finally, a comparison is made between the two approaches pointing out both, common and different features.