A robust adaptive tracking control method for a rehabilitative walker using random parameters

作者：Chang, Hongbin; Sun, Ping^*; Wang, Shuoyu

来源：International Journal of Control, 2017, 90(7): 1446-1456.

DOI：10.1080/00207179.2016.1209562

• Random parameters
• reliable tracking control
• rehabilitative training walker
• adaptive control

The present paper investigates stochastic modelling and a new nonlinear reliable tracking control method for a rehabilitative training walker. The stochastic model is constructed by considering random parameters. A new nonlinear tracking method against actuator fault is proposed based on redundant degree of freedom and a state feedback controller is designed by exploiting an adaptive control technique. It is proved that the mean square of the trajectory tracking error can be made arbitrarily small by choosing appropriate design parameters. As an application, simulation results confirm the effectiveness of the proposed method and verify that the walker with random parameters can provide safe sequential motion when one wheel actuator is at fault.

• 出版日期2017
• 单位沈阳工业大学