Author(s): SUN Ping, ZHOU Xiao-zhou, XUE Wei-lin, YANG De-guo, School of Information Science and Engineering, Shenyang University of Technology, School of Software, Shenyang University of Technology
Pages: 597-601
Year: 2016 Issue:  4
Journal: Control Engineering of China
Keyword:  Omnidirectional rehabilitative training walker; reliable tracking control; redundant degrees of freedom; fault actuator; asymptotic stability;
Abstract: The actuator motors may lose their effectiveness during the actual applications for omnidirectional rehabilitative training walker, thus will affect the safety of trainers. Based on the redundant degrees of freedom theory, the reliable tracking control is studied to solve this problem by blocking the fault actuators. The conservative fault-estimation of the conventional fault-tolerant control method is avoided and the faultless actuators are designed for the achievement of secure tracking training. Furthermore, by constructing the Lyapunov function, the asymptotic stability of the error tracking system is ensured in global coordinate system, and expression of the reliable controller is derived. Finally, the simulation confirms the stability of the walker and the safety of the patients when a certain actuator malfunctioned.