Multivariable robust control of a gait trainer

Chung Huang Yu*, Tai Yu Chou, Fu Cheng Wang

*此作品的通信作者

研究成果: Conference contribution同行評審

摘要

This paper proposes multivariable robust control for a gait trainer for people with walking disability. The gait trainer composes of linkages and motors, which drive the linkages to produce preferred gait traces. To simplify the traditional motor control, the tracking error and motor current are feedback for control design to regulate the motor voltage. First, the transfer function matrices of the multivariable system are obtained by identification techniques. Then robust control algorithms are applied to deal with system variations and disturbances. Finally, the designed controllers are implemented for performance verification. From the experimental results, the proposed multivariable robust control is shown to be effective for the gait trainer.

原文English
主出版物標題2010 IEEE International Conference on Control Applications, CCA 2010
頁面2256-2261
頁數6
DOIs
出版狀態Published - 2010
事件2010 IEEE International Conference on Control Applications, CCA 2010 - Yokohama, Japan
持續時間: 8 9月 201010 9月 2010

出版系列

名字Proceedings of the IEEE International Conference on Control Applications

Conference

Conference2010 IEEE International Conference on Control Applications, CCA 2010
國家/地區Japan
城市Yokohama
期間8/09/1010/09/10

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