Robust Control for Human Postural Balance: Design and Simulation*

Abstract

In this paper, an optimal controller for dynamic model describing a system of human postural balance in response to small perturbations is developed. The purpose is to analyze the scientific problem of particular simulating the work of separate parts of central nervous system (CNS) in terms of understanding the ways of its functioning, as well as the application of these knowledge for solving topical and actual issues of biomechanics and mechatronics. In the article the problems of adaptation of control systems methods analysis of human postural balance in a presence of CNS problems are considered. Robust control strategy that describes, as close as possible the role of knee, ankle and hip joints in the human postural stabilization is developed. The proposed control law simulates the ankle joints functioning and minimizes the nervous efforts of the central nervous system, as well as implements the stabilization of the center of mass of a human in the presence of small state perturbations of the body from the position of equilibrium in the sagittal plane.