Finite-time Tracking Control with Velocity Constraints for the Stochastic Rehabilitative Training Walker System 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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