Optimal Coordination and Control of Posture and Movements
Johansson, Rolf LU
; Fransson, Per-Anders
LU
and Magnusson, Måns
LU
(2009)
In Journal of Physiology - Paris
103.
p.159-177
- Abstract
- This paper presents a theoretical model of stability and coordination of posture and locomotion, together with algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are obtained by solving an algebraic matrix equation. The stability is investigated with Lyapunov function theory and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution describes motion strategies of minimum effort and variance. The proposed optimal control is formulated to be suitable as a posture and movement model for... (More)
- This paper presents a theoretical model of stability and coordination of posture and locomotion, together with algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are obtained by solving an algebraic matrix equation. The stability is investigated with Lyapunov function theory and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution describes motion strategies of minimum effort and variance. The proposed optimal control is formulated to be suitable as a posture and movement model for experimental validation and verification. The combination of adaptive and optimal control makes this algorithm a candidate for coordination and control of functional neuromuscular stimulation as well as of prostheses. Validation examples with experimental data are provided. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1469859
- author
- Johansson, Rolf
LU
; Fransson, Per-Anders
LU
and Magnusson, Måns
LU
- organization
- publishing date
- 2009
- type
- Contribution to journal
- publication status
- published
- subject
- in
- Journal of Physiology - Paris
- volume
- 103
- pages
- 159 - 177
- publisher
- Elsevier
- external identifiers
-
- wos:000271395900006
- pmid:19671443
- scopus:71149093918
- pmid:19671443
- ISSN
- 1769-7115
- DOI
- 10.1016/j.jphysparis.2009.08.013
- project
- ROSETTA
- language
- English
- LU publication?
- yes
- id
- e13cd474-27e8-45df-969d-fa63b2e420ae (old id 1469859)
- alternative location
- http://www.ncbi.nlm.nih.gov/pubmed/19671443?dopt=Abstract
- date added to LUP
- 2016-04-04 08:56:29
- date last changed
- 2024-01-12 08:05:34
@article{e13cd474-27e8-45df-969d-fa63b2e420ae,
abstract = {{This paper presents a theoretical model of stability and coordination of posture and locomotion, together with algorithms for continuous-time quadratic optimization of motion control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are obtained by solving an algebraic matrix equation. The stability is investigated with Lyapunov function theory and it is shown that global asymptotic stability holds. It is also shown how optimal control and adaptive control may act in concert in the case of unknown or uncertain system parameters. The solution describes motion strategies of minimum effort and variance. The proposed optimal control is formulated to be suitable as a posture and movement model for experimental validation and verification. The combination of adaptive and optimal control makes this algorithm a candidate for coordination and control of functional neuromuscular stimulation as well as of prostheses. Validation examples with experimental data are provided.}},
author = {{Johansson, Rolf and Fransson, Per-Anders and Magnusson, Måns}},
issn = {{1769-7115}},
language = {{eng}},
pages = {{159--177}},
publisher = {{Elsevier}},
series = {{Journal of Physiology - Paris}},
title = {{Optimal Coordination and Control of Posture and Movements}},
url = {{https://lup.lub.lu.se/search/files/5216310/1479070.pdf}},
doi = {{10.1016/j.jphysparis.2009.08.013}},
volume = {{103}},
year = {{2009}},
}