H{sub}∞ Controller Synthesis for a Physiological Motor Control System Modeled with Bond Graphs

摘要

Physiological structures exhibit complex characteristics for postural stability and movement. These structures consist of muscles, muscle spindles, Gologi tendon organs and neural activation mechanism etc. In this paper physiological models are studied with bond graph modeling technique, which provides new prospective to study physiological components and combined musculoskeletal system via flow of power. The central nervous controller for muscle activation is designed and analyzed with H{sub}∞ optimal controller. This controller design optimizes the output of the musculoskeletal structures in the presence of neural activity and disturbance toques to the joints. Simulation results are provided for the different physiological variables for postural stability of a single link biomechanical model with proprioceptive feedback and H{sub}∞ controller design.