Title :
Modeling and tracking control for omnidirectional rehabilitative training walker with random parameters
Author :
Chang, Hongbin ; Sun, Ping
Author_Institution :
School of Information Science and Engineering, Shenyang University of Technology, 110870, P.R. China
Abstract :
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.
Keywords :
Legged locomotion; Simulation; State feedback; Stochastic processes; Tracking; Training; Random parameters; omnidirectional walker; rehabilitative training; tracking control;
Conference_Titel :
Control Conference (CCC), 2015 34th Chinese
Conference_Location :
Hangzhou, China
DOI :
10.1109/ChiCC.2015.7260540