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This phenomenon is nothing more than a muscle spasm. While the human body begins to fall asleep, there are quite a lot of sodium molecules in the muscles, which are responsible for their contraction. As soon as the muscle tone decreases, due to a decrease in the motor center of the cerebral cortex, the muscles sharply release all excess sodium from the cells. This leads to an involuntary contraction.
There is a theory that a person shudders when falling asleep from the fact that a protective mechanism is triggered. The brain feels that the body is relaxed, breathing is slowed down, and these are signs of approaching death for it. So he cheers us up.