An optimal control problem in closed-loop neuroprostheses

Gautam Kumar, Vikram Aggarwal, Nitish V. Thakor, Marc H. Schieber, Mayuresh V. Kothare

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A control-theoretic study of complex systems such as closed-loop neural prostheses exhibits several challenges, from the design of an optimal feedback control problem to its solution. In this paper we study one such system, a closed-loop voluntary movement of a prosthetic finger using electrophysio- logical activities of a single cortical motor neuron. We develop an optimal feedback control problem in the nonlinear receding horizon based terminal set constraint framework. We analyze the feasibility and stability of the control problem. Further, we solve the control problem numerically by implementing a local optimum based nonconvex nonlinear programming algorithm. Finally, we study effects of visual and proprioceptive feedback pathways on the closed-loop system. Our results elucidate the importance of multiple feedback paths in designing a closed-loop neural prosthetic system.

Original languageEnglish (US)
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages53-58
Number of pages6
DOIs
StatePublished - Dec 1 2011
Externally publishedYes
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
CountryUnited States
CityOrlando, FL
Period12/12/1112/15/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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  • Cite this

    Kumar, G., Aggarwal, V., Thakor, N. V., Schieber, M. H., & Kothare, M. V. (2011). An optimal control problem in closed-loop neuroprostheses. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 53-58). [6161428] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2011.6161428