Insperger, Tamás (Department of
Applied Mechanics, BME)
On
the limits of human balancing: delay, sensory uncertainties and movement
constraints
Different types of control concepts are considered in
case of reflex delay and sensory uncertainties related to human balancing. It
is known that humans cannot balance sticks shorter than 20~30cm on their
fingertip. In this presentation, the limitations of stick balancing performance
caused by reflex delay and sensory uncertainties are analyzed. A simple
pendulum-cart model is used, the reflex delay is modeled as a feedback delay
and the sensory uncertainties are modeled as sensory dead zones. Other
constraints, such as maximum arm length, maximum acceleration and maximum jerk
of the cart are also taken into account.
Some continuous-time and intermittent control concepts
are overviewed. Two different types of intermittent control concepts are
distinguished. First, time-dependent (clock-driven) intermittent controllers
are analyzed, namely, sampled data control and the so-called act-and-wait
control. Second, state-dependent (event-driven) intermittent controllers are
considered where the intermittency is due to the sensory dead zone.
Finally, some delay compensation techniques are discussed
and their sensitivity are analyzed to parameter uncertainties.
Date: Oct. 4, Tuesday 4:15pm
Place: BME, Building „Q”, Room QBF13