Global Stabilization of Full Model of a Human Posture in Space

A.R. Selman (Canada)


Feedback Control, Nonlinear Systems, Modelling and Sim ulation Robotics.


In this paper, a novel nonlinear state feedback approach is proposed to design a globally stabilizing controller for a class of cascaded nonlinear system. For a multi-input multi-output (MIMO) underactuated mechanical systems, both a backstepping design procedure and a control design approach is so-called stable-manifold based method can be applied to design a global smooth feedback stabilization control law. The resulting controller is applied to a novel underactuated human posture dynamics. Simulation results are carried out to show the performance of the proposed control approach.

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