| Item type |
学術雑誌論文 / Journal Article(1) |
| 公開日 |
2017-03-24 |
| タイトル |
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タイトル |
Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker |
| 言語 |
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言語 |
eng |
| 資源タイプ |
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資源タイプ識別子 |
http://purl.org/coar/resource_type/c_6501 |
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資源タイプ |
journal article |
| 著者 |
Sun, Ping
Wang, Shuoyu
Karimi, Hamid Reza
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| 抄録 |
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内容記述タイプ |
Abstract |
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内容記述 |
The problem of robust reliable tracking control on the omnidirectional rehabilitative training walker is examined. The new 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 redundant degrees of freedom safety control and the asymptotically zero state detectable concept of the walker are presented, the model of redundant degree is constructed, and the property of center of gravity constant shift is obtained. 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 |
Mathematical Problems in Engineering
巻 2014,
p. 636934-1-636934-10,
発行日 2014
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| DOI |
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関連タイプ |
isIdenticalTo |
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識別子タイプ |
DOI |
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関連識別子 |
10.1155/2014/636934 |
| 権利 |
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権利情報 |
Copyright © 2014 Ping Sun et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. |
| 権利（URI） |
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権利情報 |
https://creativecommons.org/licenses/by/3.0/ | https://creativecommons.org/licenses/by/3.0/ |
| 著者版フラグ |
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出版タイプ |
VoR |
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出版タイプResource |
http://purl.org/coar/version/c_970fb48d4fbd8a85 |
| 出版者 |
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出版者 |
Hindawi Publishing Corporation |
28-11.pdf (2.5 MB)
