LQR control applied to the movement of the knee of paraplegic patients
DOI:
https://doi.org/10.5433/1679-0375.2014v35n2p231Keywords:
Linear Quadratic Regulator, Paraplegic, Electrical Stimulation, Rehabilitation EngineeringAbstract
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.Downloads
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