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Control model of postural stability using LQR and fuzzy logic controller

A combination of linear quadratic regulator (LQR) and fuzzy logic controller (FLC) is implemented to control a 4-segment human model under external perturbations. The LQR is constructed for fine tuning of the equilibrium using full state feedback control. The FLC is designed to regulate the postural stability based on the center of mass location and velocity. In FLC, 28 fuzzy if-then rules are implemented. The combination of LQR and FLC makes the design of both controllers much easier and the result is superior to either alone.