Abstract
In this study, a new nonlinear tracking control method with velocity constraints performance is proposed for omnidirectional rehabilitative training walker. The aim of the study is to design an asymptotically stable nonfragile controller that can guarantee the safety of the rehabilitee and ensure tracking on a training trajectory planned by a physical therapist. According to Lyapunov theory, the guaranteed cost non-fragile controller can be designed to maintain stability in terms of solutions of linear matrix inequalities. The concept of safety velocity is given and the sufficient conditions for the existence of such a controller with safety velocity constraints performance are derived. As an application, simulation results confirm the effectiveness of the proposed method and verify that the walker can provide safe training velocity.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: International Journal of Control, Automation and Systems
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
