Design and Implementation of Multivariable Robust Controllers for an Active Gait Trainer
Date Issued
2010
Date
2010
Author(s)
Chou, Tai-Yu
Abstract
This thesis proposed multivariable robust control for an active gait trainer, which controls the DC motors of a gait trainer to produce the preferred gait traces. The active gait trainer is a medical assistive device, which consists of linkage mechanisms and motors to produce desired gait traces for people with walking disability. First, we obtain the transfer function matrices of the system are by identification techniques. Second, we feedback the tracking errors and motor currents, and design controllers to regulate the motor voltages. In addition, robust control algorithms are applied to deal with system uncertainties and disturbances. Finally, the designed multivariable robust controllers are implemented on cRIOTM and a micro-chip system for experimental verification. From the experimental results, the multivariable robust controllers are shown to effectively improve the stability and performance of the active gait trainer for people with walking disability.
Subjects
gait trainer
DC motor
linkage mechanism
cRIOTM
micro-chip
Type
thesis
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