2021
DOI: 10.1007/s11071-021-06912-3
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Finite-time tracking control with velocity constraints for the stochastic rehabilitative training walker systems considering different rehabilitee masses

Abstract: This study discusses a finite-time tracking controller for a rehabilitative training walker that imposes velocity constraints. The walker was described using a stochastic model through which the rehabilitee mass can randomly change, and a velocity constraint method was proposed to control the velocity input to every omniwheel based on a model predictive algorithm. This approach is novel in that the velocity constraint information obtained from the kinematics model was used to design the tracking controller bas… Show more

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Cited by 3 publications
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