Output tracking control for an omnidirectional rehabilitative training walker with incomplete measurements and random parameters

Hongbin Chang, Ping Sun and Shuoyu Wang

International Journal of Systems Science, 2017, vol. 48, issue 12, 2509-2521

Abstract: In this study, we propose a model and an output feedback tracking control for an omnidirectional rehabilitative training walker (ODW) with unmeasurable speed, incomplete measurements of position output, and random structural parameters. A stochastic model and an incomplete measurement model were proposed to describe the motion of an ODW subject to random structural parameters and to account for any incomplete data transmission phenomenon caused by possible sensor ageing or failures. A speed observer and a state observer were designed to estimate the unmeasurable speed and the incomplete measurements of position output. Moreover, a dynamic output feedback controller was constructed to ensure the exponential stability in mean square of the tracking error system. Furthermore, the results verify that the choice of appropriate design parameters can result in the mean square of the tracking error becoming arbitrarily small. A simulation example was provided to illustrate the effectiveness of the proposed design procedures.

Date: 2017
References: Add references at CitEc
Citations: View citations in EconPapers (1)

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2017.1324064 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:48:y:2017:i:12:p:2509-2521

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2017.1324064

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().