全方向步行康复训练器的鲁棒容错跟踪控制

Robust fault-tolerant tracking control for omni-directional rehabilitative training walker

针对全方向步行康复训练器应用时元器件发生不可预见的失效情况,提出了非线性鲁棒容错控制器的设计方法,研究了全方向步行康复训练器的鲁棒容错跟踪控制问题.通过在控制器中增加补偿矩阵,无论执行电机是否发生故障,全方向步行康复训练器均能够跟踪理疗师制定的训练路线.构造了能量存储函数和适当的评价信号,基于γ耗散不等式推导得出了鲁棒控制器,使系统的跟踪误差在全局坐标系下达到渐近稳定,且满足非线性L2增益性能指标.仿真结果表明,新的设计方法具有一定的可行性和有效性.

In order to solve the problems that the unforeseen failure of components will occur during the application of omni-directional rehabilitative training walker, the design method for the nonlinear robust fault-tolerant controller was proposed, and the problem of robust fault-tolerance tracking control for the omni-directional rehabilitative training walker was studied. Through adding the compensation matrix in the controller, the omni-directional rehabilitative training walker could trace the training course designed by the physical therapist whether the actuating motor failed. In addition, the energy storage function and proper evaluation signals were established, and the robust controller was derived based on the γ dissipation inequality. Meanwhile, the asymptotic stability of tracking error of the system was achieved in the global coordinate system, which met the nonlinear L2 gain performance indexes. The simulated results show that the proposed design method is effective and feasible.