LQR control applied to the movement of the knee of paraplegic patients

LQR control applied to the movement of the knee of paraplegic patients

Authors

  • Tiago Carlos de Oliveira Universidade Estadual de Londrina
  • Ruberlei Gaino Universidade Estadual de Londrina
  • Márcio Roberto Covacic Universidade Estadual de Londrina
  • Marcelo Carvalho Minhoto Teixeira Universidade Estadual Paulista-“Júlio de Mesquita Filho”
  • Aparecido Augusto de Carvalho Universidade Estadual Paulista-“Júlio de Mesquita Filho”

DOI:

https://doi.org/10.5433/1679-0375.2014v35n2p231

Keywords:

Linear Quadratic Regulator, Paraplegic, Electrical Stimulation, Rehabilitation Engineering

Abstract

The aim of this article was to design a closed loop linear quadratic controller applied to the movement of the knee joint in paraplegic patients. The modeling of the dynamic model of the paraplegic patient was performed by representation by state variables. Linearizing the model with knee join angle around 30º, it was possible to perform simulations that demonstrated the effectiveness of LQR controller that having a performance index to be minimized to obtain their optimality.

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Author Biographies

Tiago Carlos de Oliveira, Universidade Estadual de Londrina

Departamento de Engenharia Elétrica

Ruberlei Gaino, Universidade Estadual de Londrina

Departamento de Engenharia Elétrica

Márcio Roberto Covacic, Universidade Estadual de Londrina

Departamento de Engenharia Elétrica

Marcelo Carvalho Minhoto Teixeira, Universidade Estadual Paulista-“Júlio de Mesquita Filho”

Departamento de Engenharia Elétrica

Aparecido Augusto de Carvalho, Universidade Estadual Paulista-“Júlio de Mesquita Filho”

Departamento de Engenharia Elétrica

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Published

2014-10-30

How to Cite

de Oliveira, T. C., Gaino, R., Covacic, M. R., Teixeira, M. C. M., & de Carvalho, A. A. (2014). LQR control applied to the movement of the knee of paraplegic patients. Semina: Ciências Exatas E Tecnológicas, 35(2), 231–246. https://doi.org/10.5433/1679-0375.2014v35n2p231

Issue

Vol. 35 No. 2 (2014)

Section

Original Article

License

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