Definition
The destabilizing effect of reaction delay to balancing tasks is demonstrated using the pendulum-cart (inverted pendulum) model associated with delayed proportional-derivative (PD) feedback.
Detailed Description
Stabilization of unstable equilibria and orbits by means of feedback control is a highly important task in engineering and science. It is more efficient to start quick movements from an unstable position than from a stable one, while the energy demand of the control process is relatively small. Maintaining balance is also a vital ability for humans: falls are leading causes of accidental death and morbidity in the elderly, which provides a strong motivation to understand the nature of mechanisms that maintain human balance, why these mechanisms fail, and how risks for falling can be minimized. The primary causes that deteriorate the performance of feedback control systems are reaction delay and sensory uncertainties.
Here, the basic model of balancing is presented,...
References
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Insperger, T., Stepan, G. (2020). Role of Delayed Feedback in Human Balancing. In: Jaeger, D., Jung, R. (eds) Encyclopedia of Computational Neuroscience. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-7320-6_100699-1
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DOI: https://doi.org/10.1007/978-1-4614-7320-6_100699-1
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