Modeling and tracking control for omnidirectional rehabilitative training walker with random parameters

This paper investigates modeling and a state feedback nonlinear tracking control method for omnidirectional rehabilitative training walker. A stochastic model is constructed by considering random parameters. A state feedback controller is designed to make the tracking error system exponentially practically stable in mean square. It is proved that the mean square of the tracking error can be made arbitrarily small by choosing appropriate design parameters. Simulation results demonstrate the feasibility and effectiveness of the proposed method.