Skip to main content
padlock icon - secure page this page is secure

Multivariable Robust Control Design for an Active Gait Trainer

Buy Article:

$106.34 + tax (Refund Policy)

This paper proposes multivariable robust control for an active gait trainer, which uses linkage mechanisms and electrical motors to produce preferred gait traces for people with walking disabilities. We first obtain multivariable transfer functions of the system by identification techniques, and then select nominal plants for control design based on the systems' gap metrics. To guarantee stability and performance for the system which has variations and disturbances during operation, we design multivariable robust controllers to synchronously control the motors to produce preferred gaits. The designed controllers are applied on the gait trainer system for experimental verification. The results demonstrate the effectiveness of the system.
No Reference information available - sign in for access.
No Citation information available - sign in for access.
No Supplementary Data.
No Article Media
No Metrics

Document Type: Research Article

Publication date: September 1, 2013

More about this publication?
  • ADVANCED SCIENCE LETTERS is an international peer-reviewed journal with a very wide-ranging coverage, consolidates research activities in all areas of (1) Physical Sciences, (2) Biological Sciences, (3) Mathematical Sciences, (4) Engineering, (5) Computer and Information Sciences, and (6) Geosciences to publish original short communications, full research papers and timely brief (mini) reviews with authors photo and biography encompassing the basic and applied research and current developments in educational aspects of these scientific areas.
  • Editorial Board
  • Information for Authors
  • Subscribe to this Title
  • Ingenta Connect is not responsible for the content or availability of external websites
  • Access Key
  • Free content
  • Partial Free content
  • New content
  • Open access content
  • Partial Open access content
  • Subscribed content
  • Partial Subscribed content
  • Free trial content
Cookie Policy
Cookie Policy
Ingenta Connect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more