6533b7dcfe1ef96bd12721a8
RESEARCH PRODUCT
Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker
Shuoyu WangHamid Reza KarimiPing Sunsubject
EngineeringArticle Subjectbusiness.industryGeneral Mathematicslcsh:MathematicsVDP::Technology: 500::Mechanical engineering: 570General EngineeringControl engineeringDegrees of freedom (mechanics)Fault (power engineering)lcsh:QA1-939Computer Science::RoboticsCenter of gravityZero state responseEngineering (all)Exponential stabilityControl theorylcsh:TA1-2040Stability theoryMathematics (all)businessActuatorlcsh:Engineering (General). Civil engineering (General)Mathematics (all); Engineering (all)description
Published version of an article in the journal: Mathematical Problems in Engineering. Also available from the publisher at: http://dx.doi.org/10.1155/2014/636934 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. © 2014 Ping Sun et al.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2014-01-01 | Mathematical Problems in Engineering |