A robust adaptive tracking control method for a rehabilitative walker using random parameters. Issue 7 (3rd July 2017)

• Record Type: Journal Article
• Authors: Chang, Hongbin; Sun, Ping; Wang, Shuoyu
• Is Part Of: International journal of control. Volume 90:Issue 7(2017)
• Page Start: 1446
• Page End: 1456
• Publication Date: 2017-07-03
• Subjects: Random parameters -- reliable tracking control -- rehabilitative training walker -- adaptive control; Automatic control -- Periodicals; Electronic journals; 629.8
• DOI: 10.1080/00207179.2016.1209562
• Languages: English
• ISSNs: 0020-7179

Abstract

ABSTRACT: 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.