关键词：控制器；全向康复训练；容错跟踪控制
摘 要：This paper is concerned with the problem of robust fault-tolerance tracking control on the omni-directional rehabilitative training walker. The nonlinear robust fault-tolerance method is proposed when one wheel actuator stuck is happened. The aim is to design an asymptotically stable controller which can guarantee the safety of walker and can ensure tracking the training path planned by a physical therapist when one actuator is faulted. The controller which can satisfy asymptotic stability is obtained by constructing the energy storage function and the γ dissipation inequality. The evaluation signal is designed which has verified the nonlinear L_2 gain performance index. Finally, the simulation results confirm the feasibility and effectiveness of the designed scheme.