CBA2016-0254 Robótica e Mecatrônica

Recursive Linear Quadratic Regulator subject to Markovian Jump Linear Systems in a Robotic Application system for Rehabilitation

Christoph M. Mitschka¹; Marco H. Terra¹; Adriano A. G. Siqueira¹; Francisco A. Garcia¹

¹ EESC, USP São Carlos

Resumo

In this paper, a recursive regulator for linear discrete-time systems, which are subject to Markovian jumps is studied under consideration of a rehabilitation application with an exoskeleton. Using a penalty function and robust weighted least-squares methods, tuning parameters can be dispensed and permits the application in online processes. This kind of regulator is a novelty in rehabilitation robotics and will ensure new options and variety of control strategies in this are of control problem. The performance is compared with an established method based on offline calculation by solving linear matrix inequalities for H∞ controllers.

Palavras-chave: Markovian Control; recursive linear quadratic regulator; rehabilitation systems

Como citar

Christoph M. Mitschka; Marco H. Terra; Adriano A. G. Siqueira; Francisco A. Garcia. “Recursive Linear Quadratic Regulator subject to Markovian Jump Linear Systems in a Robotic Application system for Rehabilitation”. XXI Congresso Brasileiro de Automática. CBA2016. 2016. Código: CBA2016-0254