Feedback linearization and optimal control of human head rotation satisfying Donders' constraint

主讲人:Bijoy K. Ghosh(Dick and Martha Brooks Regent Professor of Mathematics and Statistics Texas Tech University, Lubbock TX, USA)
时间:2016年6月17日上午10:00   地点:N602

学术海报

Abstract: Using the well known approach of feedback linearization, we study dynamical systems that can be applied to controlling the orientation of human head.  We model head as a sphere rotating about its center, where the axes of rotation are physiologically constrained, as was originally proposed by Donders.  The Donders' constraint is derived, in this paper, from Fick gimbals. The head movement dynamics is derived on $SO(3)$, described using the standard Newton-Euler formulation, together with an externally applied control torque.  The control system so obtained is viewed as a $3$ input $3$ output system, where inputs are the control torques, two of the three outputs are coordinates of the head pointing direction and the third output is derived from the Donders' constraint. We show that the input-output system as described, is feedback linearizable using state feedback.  

 

Brief CV:

Bijoy received the B. Tech and M. Tech degrees in Electrical and Electronics Engg. from BITS Pilani and the Indian Institute of Technology, Kanpur, India, and the Ph.D. degree in Engineering Sciences from the Decision and Control Group of the Division of Applied Sciences, Harvard University, Cambridge, MA, in 1977, 1979 and 1983, respectively. From 1983 to 2007 Bijoy was with the Department of Electrical and Systems Engineering, Washington University, St. Louis, MO, USA, where he was a Professor and Director of the Center for BioCybernetics and Intelligent Systems. Currently he is the Dick and Martha Brooks Regents Professor of Mathematics and Statistics at Texas Tech University, Lubbock, TX, USA. He received the Donald P. Eckmann award in 1988 from the American Automatic Control Council, the Japan Society for the Promotion of Sciences Invitation Fellowship in 1997. He became a Fellow of the IEEE in 2000, and a Fellow of the International Federation on Automatic Control in 2014. Currently he is the IEEE Control Systems Society Representative to the IEEE-USA's Medical Technology Policy Committee. Bijoy had held visiting positions at Tokyo Institute of Technology, Osaka University and Tokyo Denki University, Japan, University of Padova in Italy, Royal Institute of Technology and Institut Mittag-Leffler, Stockholm, Sweden, Yale University, USA, Technical University of Munich, Germany, Chinese Academy of Sciences, China and Indian Institute of Technology, Kharagpur, India. Bijoy's current research interest is in BioMechanics and Control Problems in Rehabilitation