Affiliation:
1. Research Institute Kochi University of Technology Kochi Japan
2. School of Information and Electronic Engineering Zhejiang Gongshang University Hangzhou China
3. School of Systems Engineering Kochi University of Technology Kochi Japan
4. School of Electrical and Electronic Engineering The University of Adelaide Adelaide South Australia Australia
5. Research and Innovation Centr Obuda University Budapest Hungary
Abstract
AbstractIn this paper, the control problem for a novel walking assistance training robot is considered where the main objective is utilizing the robot to control the tilt angle and the position of a user. First, the novel walking assistance training robot together with a user is modeled as a nonlinear dynamical system in state space form with control input where the control input includes two elements standing for pulling forces on two straps which attach to the chest and back, respectively, of the user. Then, based on the nonlinear dynamical system and some results proposed in this paper, a feedback control system is developed, and a nonlinear state feedback control algorithm is designed where the control input includes two parts, namely, a dynamical part and a constant part. By doing this, it is ensured that the feedback control system is stable, and achieves the main objective under some limits for the control input. A simulation example is given to illustrate the effectiveness and performance of the proposed nonlinear state feedback control algorithm.
Funder
National Natural Science Foundation of China
Australian Research Council
Subject
Electrical and Electronic Engineering,Industrial and Manufacturing Engineering,Mechanical Engineering,Aerospace Engineering,Biomedical Engineering,General Chemical Engineering,Control and Systems Engineering