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Redundant Input Guaranteed Cost Switched Tracking Control for Omnidirectional Rehabilitative Training Walker
http://hdl.handle.net/10173/1463
http://hdl.handle.net/10173/1463f183c990-2ab3-4aae-af4f-4e93113b0e28
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
28-9.pdf (268.5 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||||||
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| 公開日 | 2017-03-24 | |||||||||
| タイトル | ||||||||||
| タイトル | Redundant Input Guaranteed Cost Switched Tracking Control for Omnidirectional Rehabilitative Training Walker | |||||||||
| 言語 | ||||||||||
| 言語 | eng | |||||||||
| キーワード | ||||||||||
| 主題Scheme | Other | |||||||||
| 主題 | Omnidirectional walker | |||||||||
| キーワード | ||||||||||
| 主題Scheme | Other | |||||||||
| 主題 | Rehabilitative training | |||||||||
| キーワード | ||||||||||
| 主題Scheme | Other | |||||||||
| 主題 | Guaranteed cost switched control | |||||||||
| キーワード | ||||||||||
| 主題Scheme | Other | |||||||||
| 主題 | Cost performance index | |||||||||
| キーワード | ||||||||||
| 主題Scheme | Other | |||||||||
| 主題 | Redundant input degree | |||||||||
| 資源タイプ | ||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||
| 資源タイプ | journal article | |||||||||
| 著者 |
Sun, Ping
× Sun, Ping
× Wang, Shuoyu
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| 抄録 | ||||||||||
| 内容記述タイプ | Abstract | |||||||||
| 内容記述 | In this study, the problem of guaranteed cost switched tracking control on the omnidirectional rehabilitative training walker is examined. The nonlinear redundant input method is proposed when one wheel actuator fault occurs. The aim of the study is to design an asymptotically stable controller that can guarantee the safety of the user and ensure tracking on a training path planned by a physical therapist. The guaranteed cost control and the asymptotically zero state detectable concept of the walker are presented, and the model of redundant degree is constructed. The cost performance index is defined to restrain initial oversize input forces. A switching approach is employed. A controller that can satisfy asymptotic stability is obtained using a common Lyapunov function for admissible uncertainties resulting from an actuator fault. Simulation results confirm the effectiveness of the proposed method and verify that the walker can provide safe sequential motion when one wheel actuator is at fault. | |||||||||
| 書誌情報 |
International Journal of Innovative Computing, Information and Control 巻 10, 号 3, p. 883-896, 発行日 2014-06 |
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| ISSN | ||||||||||
| 収録物識別子タイプ | ISSN | |||||||||
| 収録物識別子 | 1349-4198 | |||||||||
| 権利 | ||||||||||
| 権利情報 | ICIC International © 2014 | |||||||||
| 著者版フラグ | ||||||||||
| 出版タイプ | VoR | |||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||
| 出版者 | ||||||||||
| 出版者 | ICIC International | |||||||||
