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Nonfragile predictive control for an omnidirectional rehabilitative training walker with constraints on the tracking errors of position and velocity
Author(s) -
Sun Ping,
Zhang Shuai,
Wang Shuoyu,
Chang Hongbin
Publication year - 2020
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.2638
Subject(s) - control theory (sociology) , omnidirectional antenna , trajectory , controller (irrigation) , tracking (education) , tracking error , position (finance) , model predictive control , computer science , stability (learning theory) , position error , control (management) , mathematics , artificial intelligence , orientation (vector space) , psychology , telecommunications , pedagogy , physics , geometry , finance , antenna (radio) , economics , astronomy , machine learning , agronomy , biology
Summary Here, we propose a novel nonfragile predictive control method for an omnidirectional rehabilitative training walker. The aim of the study was to design a tracking controller that includes simultaneous constraints on the tracking errors in the position and velocity in order to guarantee safe system states for the omnidirectional walker. The nonfragile controller uses incremental control to solve the optimal quadratic program problem. The exponential stability of the system is guaranteed by constructing constraints on the trajectory‐tracking error and the velocity‐tracking error. Simulation and experimental testing were conducted to confirm the effectiveness of the proposed method and verify that it can provide safe positions and velocities when applied to control the motion of an omnidirectional walker.