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- W1967959588 abstract "In this paper, we have developed a method for determining the control intention in human subjects during a prescribed motion task. Our method is based on the solution to the inverse LQR problem, which can be stated as: does a given controller K describe the solution to a time-invariant LQR problem, and if so, what weights Q and R produce K as the optimal solution? We describe an efficient Linear Matrix Inequality (LMI) method for determining a solution to the general case of this inverse LQR problem when both the weighting matrices Q and R are unknown. Additionally, we propose a gradient-based, least-squares minimization method that can be applied to approximate a solution in cases when the LMIs are infeasible. We develop a model for an upright seated-balance task which will be suitable for identification of human control intent once experimental data is available." @default.
- W1967959588 created "2016-06-24" @default.
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- W1967959588 date "2013-10-21" @default.
- W1967959588 modified "2023-10-16" @default.
- W1967959588 title "Determining Human Control Intent Using Inverse LQR Solutions" @default.
- W1967959588 doi "https://doi.org/10.1115/dscc2013-3874" @default.
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