robust redundant input reliable tracking control for omnidirectional rehabilitative training walker
Clicks: 109
ID: 202512
2014
Article Quality & Performance Metrics
Overall Quality
Not rated
Combines reader engagement with the AI quality analysis. This
article has not been analysed, so there is no overall score —
reader engagement is measured and shown alongside.
Reader Engagement
Steady Performance
30.0
/100
109 views
7 readers
AI Quality Assessment
Not analyzed
Readership in this journal
SteadyRanked #628 of 1,093 articles by views in journal of power sources
Most read
Least read
Bar heights use a square-root scale. Only the 120 most-read articles are drawn; the journal has 1,093 in total.
Mint this article as an NFT
Not yet mintedCreate a permanent, verifiable on-chain record of this article on the Scimatic Network. The NFT is held in your Journament account, and you can withdraw it to your own wallet at any time.
5
SUSD
one-off · no wallet required
Abstract
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.
| Reference Key |
sun2014mathematicalrobust
Use this key to autocite in the manuscript while using
SciMatic Manuscript Manager or Thesis Manager
|
|---|---|
| Authors | ;Ping Sun;Shuoyu Wang;Hamid Reza Karimi |
| Journal | journal of power sources |
| Year | 2014 |
| DOI |
10.1155/2014/636934
|
| URL | |
| Keywords |
Citations
No citations found. To add a citation, contact the admin at info@scimatic.org
Comments
No comments yet. Be the first to comment on this article.