Tracking control and identification of interaction forces for a rehabilitative training walker whose centre of gravity randomly shifts

• Published in: International journal of control Vol. 94; no. 5; pp. 1143 - 1155
• Main Authors: Sun, Ping, Wang, Shuoyu, Chang, Hongbin
• Format: Journal Article
• Language: English
• Published: Abingdon Taylor & Francis 04.05.2021; Taylor & Francis Ltd
• Subjects: Center of gravity; Control systems design; Controllers; Interaction forces identification; Nonlinear control; random centre of gravity shift; rehabilitative training walker; Stochastic models; Tracking control; Training

This study investigates tracking control and the identification of interaction forces for a rehabilitative training walker whose centre of gravity randomly shifts. A stochastic model is structured to describe the motion of the walker subject to random parametric uncertainty. An observer is designed...