Nonlinear control design for walking assistance training robotic systems

In 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.

Automated summary

In this paper, the control problem for a novel walking assistance training robot is addressed. A nonlinear dynamical system is modeled to represent the robot and user, with control inputs including pulling forces on straps attached to the user's chest and back. A feedback control system is developed and a nonlinear state feedback control algorithm is designed to ensure stability and achieve the desired objectives. Simulation results demonstrate the effectiveness and performance of the proposed algorithm.