Internal model for body balance during quiet standing - 文章详情页

作者：

Ruan, Xiaogang (Ruan, Xiaogang.) | Liu, Liang (Liu, Liang.) | Yu, Naigong (Yu, Naigong.) (学者：于乃功)

收录：

EI Scopus PKU CSCD

摘要：

A　cerebellar　model　for　feedback　error　learning　based　on　the　Kalman　Estimator　(KECFEL)　was　developed　for　accurate　and　stable　human　body　balance　control.　The　model　uses　a　neural　network　feedforward　controller　(NNFC)　which　learns　from　the　output　of　an　estimator　and　conventional　feedback　controller　to　provide　online　learning　to　update　the　weights　and　network　training.　A　proportional　derivative　controller　is　used　as　a　feedback　controller　to　ensure　overall　stability　of　the　control　system.　Simulation　and　experimental　results　with　an　inverted　pendulum　show　the　effectiveness　of　this　model　for　human　balance　control.

关键词：

Neural networks Learning algorithms Control equipment Pendulums Control systems Feedback control

作者机构：

[ 1 ] [Ruan, Xiaogang]Department of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100022, China
[ 2 ] [Liu, Liang]Department of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100022, China
[ 3 ] [Yu, Naigong]Department of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100022, China

通讯作者信息：

电子邮件地址：

adrxg@bjut.edu.cn

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