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Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker
Joint Authors
Sun, Ping
Karimi, Hamid Reza
Wang, Shuoyu
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-01-30
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
The problem of robust reliable tracking control on the omnidirectional rehabilitative training walker is examined.
The new nonlinear redundant input method is proposed when one wheel actuator fault occurs.
The aim of the study is to design an asymptotically stable controller that can guarantee the safety of the user and ensure tracking on a training path planned by a physical therapist.
The redundant degrees of freedom safety control and the asymptotically zero state detectable concept of the walker are presented, the model of redundant degree is constructed, and the property of center of gravity constant shift is obtained.
A controller that can satisfy asymptotic stability is obtained using a common Lyapunov function for admissible uncertainties resulting from an actuator fault.
Simulation results confirm the effectiveness of the proposed method and verify that the walker can provide safe sequential motion when one wheel actuator is at fault.
American Psychological Association (APA)
Sun, Ping& Wang, Shuoyu& Karimi, Hamid Reza. 2014. Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-487087
Modern Language Association (MLA)
Sun, Ping…[et al.]. Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker. Mathematical Problems in Engineering No. 2014 (2014), pp.1-10.
https://search.emarefa.net/detail/BIM-487087
American Medical Association (AMA)
Sun, Ping& Wang, Shuoyu& Karimi, Hamid Reza. Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-10.
https://search.emarefa.net/detail/BIM-487087
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-487087