scholarly journals A First Optimal Control Solution for a Complex, Nonlinear, Tendon Driven Neuromuscular Finger Model

2010 ◽  
Author(s):  
Evangelos A. Theodorou ◽  
Emo Todorov ◽  
Francisco J. Valero-Cuevas
Keyword(s):  
Optimal Control ◽  
Muscle Force ◽  
Index Finger ◽  
Feedback Controller ◽  
Extensor Mechanism ◽  
High Dimensionality ◽  
Control Solution ◽  
Force Velocity ◽  
Finger Model ◽  
Robust To Noise

In this work we present the first constrained stochastic optimal feedback controller applied to a fully nonlinear, tendon driven index finger model. Our model also takes into account an extensor mechanism, and muscle force-length and force-velocity properties. We show this feedback controller is robust to noise and perturbations to the dynamics, while successfully handling the nonlinearities and high dimensionality of the system. By extending prior methods, we are able to approximate physiological realism by ensuring positivity of neural commands and tendon tensions at all times.

Optimal Control of Non-ballistic Muscular Movements: A Constraint-Based Performance Criterion for Rising From a Chair

1995 ◽  
Vol 117 (1) ◽  
pp. 15-26 ◽  
Author(s):  
M. G. Pandy ◽  
B. A. Garner ◽  
F. C. Anderson
Keyword(s):  
Optimal Control ◽  
Muscle Force ◽  
Minimum Energy ◽  
Time Derivative ◽  
Dynamical Property ◽  
Performance Criterion ◽  
Performance Criteria ◽  
Control Solution ◽  
Ballistic Movements ◽  
A Performance

To understand how humans perform non-ballistic movements, we have developed an optimal control model to simulate rising from a chair. The human body was modeled as a three-segment, articulated, planar linkage, with adjacent links joined together by frictionless revolutes. The skeleton was actuated by eight musculotendinous units with each muscle modeled as a three-element entity in series with tendon. Because rising from a chair presents a relatively ambiguous performance criterion, we chose to evaluate a number of different performance criteria, each based upon a fundamental dynamical property of movement: muscle force. Through a quantitative comparison of model and experiment, we found that neither a minimum-impulse nor a minimum-energy criterion is able to reproduce the major features of standing up. Instead, we introduce a performance criterion based upon an important and previously overlooked dynamical property of muscle: the time derivative of force. Our motivation for incorporating such a quantity into a mathematical description of the goal of a motor task is founded upon the belief that non-ballistic movements are controlled by gradual increases in muscle force rather than by rapid changes in force over time. By computing the optimal control solution for rising from a static squatting position, we show that minimizing the integral of a quantity which depends upon the time derivative of muscle force meets an important physiological requirement: it minimizes the peak forces developed by muscles throughout the movement. Furthermore, by computing the optimal control solution for rising from a chair, we demonstrate that multi-joint coordination is dictated not only by the choice of a performance criterion but by the presence of a motion constraint as well.

scholarly journals Sensitivity Analysis of the Battery Model for Model Predictive Control: Implementable to a Plug-In Hybrid Electric Vehicle

2018 ◽  
Vol 9 (4) ◽  
pp. 45 ◽  
Author(s):  
Nicolas Sockeel ◽  
Jian Shi ◽  
Masood Shahverdi ◽  
Michael Mazzola
Keyword(s):  
Optimal Control ◽  
Model Predictive Control ◽  
Fuel Consumption ◽  
Electric Vehicle ◽  
Predictive Control ◽  
Hybrid Electric Vehicle ◽  
Control Solution ◽  
Current Time ◽  
Battery Model ◽  
Hybrid Electric

Developing an efficient online predictive modeling system (PMS) is a major issue in the field of electrified vehicles as it can help reduce fuel consumption, greenhouse gasses (GHG) emission, but also the aging of power-train components, such as the battery. For this manuscript, a model predictive control (MPC) has been considered as PMS. This control design has been defined as an optimization problem that uses the projected system behaviors over a finite prediction horizon to determine the optimal control solution for the current time instant. In this manuscript, the MPC controller intents to diminish simultaneously the battery aging and the equivalent fuel consumption. The main contribution of this manuscript is to evaluate numerically the impacts of the vehicle battery model on the MPC optimal control solution when the plug hybrid electric vehicle (PHEV) is in the battery charge sustaining mode. Results show that the higher fidelity model improves the capability of accurately predicting the battery aging.

Optimal feedback control of twin rotor MIMO system with a prescribed degree of stability

2016 ◽  
Vol 4 (4) ◽  
pp. 226-238 ◽  
Author(s):  
Santosh Kumar Choudhary
Keyword(s):  
Optimal Control ◽  
Tracking Control ◽  
Mimo System ◽  
Control Solution ◽  
Content Type ◽  
Degree Of Stability ◽  
Twin Rotor Mimo System ◽  
Posture Stabilization ◽  
Twin Rotor ◽  
Stability Concept

Purpose The purpose of this paper is to investigate an optimal control solution with prescribed degree of stability for the position and tracking control problem of the twin rotor multiple input-multiple output (MIMO) system (TRMS). The twin rotor MIMO system is a benchmark aerodynamical laboratory model having strongly non-linear characteristics and unstable coupling dynamics which make the control of such system for either posture stabilization or trajectory tracking a challenging task. Design/methodology/approach This paper first describes the dynamical model of twin rotor MIMO system (TRMS) and then it adopts linear-quadratic regulator (LQR)-based optimal control technique with prescribed degree of stability to achieve the desired trajectory or posture stabilization of TRMS. Findings The simulation results show that the investigated controller has both static and dynamic performance; therefore, the stability and the quick control effect can be obtained simultaneously for the twin rotor MIMO system. Originality/value The articles on LQR optimal controllers for TRMS can also be found in many literatures, but the prescribed degree of stability concept was not discussed in any of the paper. In this work, new LQR with the prescribed degree of stability concept is applied to provide an optimal control solution for the position and tracking control problem of TRMS.

Optimal Control Solution of a Tuberculosis Transmission Model with Recurrent Infection and Vaccination Using C# Programming

2014 ◽  
Vol 20 (1) ◽  
pp. 51-55
Author(s):  
J. Nainggolan ◽  
Sudradjat Supian ◽  
A. K. Supriatna ◽  
N. Anggriani ◽  
. Detiatrimargini
Keyword(s):  
Optimal Control ◽  
Recurrent Infection ◽  
Transmission Model ◽  
Control Solution ◽  
Tuberculosis Transmission ◽  
C Programming

A simple method for assessment of muscle force, velocity, and power producing capacities from functional movement tasks

2016 ◽  
Vol 35 (13) ◽  
pp. 1287-1293 ◽  
Author(s):  
Milena Z. Zivkovic ◽  
Sasa Djuric ◽  
Ivan Cuk ◽  
Dejan Suzovic ◽  
Slobodan Jaric
Keyword(s):  
Muscle Force ◽  
Simple Method ◽  
Functional Movement ◽  
Force Velocity

A predicted in vivo muscle force – velocity trajectory

1997 ◽  
Vol 75 (3) ◽  
pp. 371-375 ◽  
Author(s):  
J.-Y. Cheng ◽  
M. E. DeMont
Keyword(s):  
Strain Rate ◽  
Muscle Force ◽  
Adductor Muscle ◽  
Muscle Fibres ◽  
Placopecten Magellanicus ◽  
Stress Strain ◽  
Force Velocity ◽  
Mechanical Elements

The in vivo stress–strain and stress – strain rate relationships of the adductor muscle in a swimming scallop (Placopecten magellanicus) were predicted on the basis of detailed measured swimming movements and a recently developed dynamic model that integrates all important mechanical elements in the process. The in vivo behaviour of the muscle was found to be quite different than the in vitro properties measured on isolated muscle fibres, which suggests that in general the latter might not be directly used to predict the in vivo mechanical events.

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