Tracking Control for the Center-of-gravity Constant Shift of Omnidirectional Rehabilitative Training walker

摘要

This paper discusses the problem of tracking control on the center-of-gravity constant shift of omnidirectional rehabilitative training walker. The solution is proposed by pre-multiplication transposition matrix on the kinetics model of the system and the property is obtained when the center-of-gravity shift is invariable. The controller of independent rehabilitee mass property was designed. The problem of rehabilitee mass constant change is solved on the basis of center-of-gravity constant shift. The asymptotic stability of the closed system was proved using Lyapunov stable theory and LaSalle principle. The simulation results confirm the feasibility and effectiveness of the designed scheme.