Tracking Control for Omnidirectional Rehabilitative Training Walker with Center of Gravity Shift and Fault Input

Hongbin Chang, Shuoyu Wang, Ping Sun, Bo Shen
2017 International Journal of Innovative Computing, Information and Control  
This paper investigates a trajectory-tracking-control method for an omnidirectional rehabilitative training walker (ODW) subjected to center-of-gravity shift and faulty inputs. The tracking performance and reliability of the ODW are treated simultaneously. The motion of the ODW under a center-of-gravity shift is described by a stochastic model. On the basis of the stochastic model, we developed a trajectory-tracking controller with high fault tolerance and exponential stability of the tracking
more » ... rror system. If the design parameters are appropriately chosen, the mean absolute error becomes arbitrarily small. Simulation results demonstrate the feasibility and effectiveness of the proposed method.
doi:10.24507/ijicic.13.06.2113 fatcat:y5bnqm4nqzeqbgx57o4wtnmtti