The control design is based on the backstepping technique complemented by the introduction of integral tracking errors action to improve its robustness.
Whereas the posterior cingulate seems to provide, early on following error commission, a generic (i.e. weak differentiation between hits vs. unaware errors) action monitoring system [40], [55], the left insula and right OFC may provide critical additional internal monitoring signals to the individual, enabling a rapid conscious appraisal of response errors [7].
These components reduce impulsive and trial-and-error action that results in ineffective allocation of resources.
Using these literatures, we have conceptualized patient neglect as clearly distinct from error (purposeful actions with unintentional consequences) and abuse (purposeful attempts to inflict physical or emotional harm).
Errors (incorrect actions) were modelled as a further condition of no interest (maximum error rate: R = 0.6%; G = 1,2%).
Humans and animals seek appropriate solutions to novel problems through trial-and-error (TE) actions and observation of their outcomes.
Since this is something the akratic does not do, he lacks knowledge; his ignorance is constituted by his error in action.
As it can be observed, the most common classification errors involved actions that present similar fast position variations in the lower body, i.e., jumping-forward and walking.
In this paper, we study an application of NSBC in physical experiments and incorporate an error feedback action into the method to minimise the error and enhance the feasibility in practice.
For this purpose, three optimization-based control configurations are proposed, namely, a linear model-based predictive controller, a linear quadratic regulator with output error integral action and a cascade control combining the two previous configurations.
