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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 trackingdoi:10.24507/ijicic.13.06.2113 fatcat:y5bnqm4nqzeqbgx57o4wtnmtti