Open AccessControle LQR Aplicado ao Movimento da Articulação do Joelho de Pacientes Paraplégicos
Author(s) -
Tiago Carlos de Oliveira,
Ruberlei Gaino,
Márcio Roberto Covacic,
Marcelo Carvalho Minhoto Teixeira,
Aparecido Augusto de Carvalho
Publication year - 2014
Publication title -
semina. ciências exatas e tecnológicas
Language(s) - English
Resource type - Journals
eISSN - 1679-0375
pISSN - 1676-5451
DOI - 10.5433/1679-0375.2014v35n2p231
Subject(s) - control theory (sociology) , controller (irrigation) , linear quadratic regulator , computer science , mathematics , optimal control , control (management) , mathematical optimization , artificial intelligence , agronomy , biology
The aim of this article was to design a closed loop linear quadratic controller applied to the movement \udof the knee joint in paraplegic patients. The modeling of the dynamic model of the paraplegic patient \udwas performed by representation by state variables. Linearizing the model with knee join angle around \ud30º, it was possible to perform simulations that demonstrated the effectiveness of LQR controller that \udhaving a performance index to be minimized to obtain their optimality