Here, we propose a novel nonfragile predictive control method for an omnidirectional rehabilitative training walker. The aim of the study was to design a tracking controller that includes simultaneous constraints on the tracking errors in the position and velocity in order to guarantee safe system states for the omnidirectional walker. The nonfragile controller uses incremental control to solve the optimal quadratic program problem. The exponential stability of the system is guaranteed by constructing constraints on the trajectory‐tracking error and the velocity‐tracking error. Simulation and experimental testing were conducted to confirm the effectiveness of the proposed method and verify that it can provide safe positions and velocities when applied to control the motion of an omnidirectional walker.

中文翻译：

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约束位置和速度跟踪误差的全能康复训练步行器的非脆弱预测控制

在这里，我们提出了一种新型的全能康复训练步行者的非脆弱预测控制方法。该研究的目的是设计一种跟踪控制器，该控制器包括对位置和速度中的跟踪误差的同时约束，以确保全向步行者的安全系统状态。非脆弱控制器使用增量控制来解决最佳二次程序问题。通过构造对轨迹跟踪误差和速度跟踪误差的约束，可以保证系统的指数稳定性。进行了仿真和实验测试，证实了该方法的有效性，并验证了该方法在控制全向步行器运动时可以提供安全的位置和速度。