A Cerebellum Model Using MPC for Rapid Muscle Movement Control

The cerebellum is assumed as a key part of the brain, which controls many movement organs. It controls the skilled movements faster than Motor Control Cortex does. For example Eye movement control is one of the important tasks that cerebellum performs. Saccade movement presents a very fast response of the CNS to the environmental events. Hence many researches try to present a perfect model for saccade movement. One important parameter in movement control is various sources of delays in efferent and afferent paths. Also, the non-minimum phase response of the muscle makes its control hard. In this article we introduce a model based predictive controller as the cerebellum model and compare its function with Smith predictor controller scheme. It is shown that the MPC presents a better control on non- minimum phase model of the muscles.

کلیدواژه ها:

MPC ، Smith Predictor ، cerebellum ، Muscle