Adaptive control strategy with parameter optimisation for omni-directional walker

Renpeng Tan*, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Masakatsu G. Fujie

*Corresponding author for this work

    Research output: Contribution to journalArticlepeer-review

    2 Citations (Scopus)


    In order to support people with walking disabilities to perform walking rehabilitation, an omni-directional walker (ODW) has been developed. Walking training programmes are stored in the walker so that rehabilitation can be carried out without a physical therapist. During walking training the forces imposed by the user’s arms to the armrest of the ODW decreased the path tracking accuracy. In a previous study, to address the issue, an adaptive control algorithm was developed to deal with the centre of gravity shift and the load changes caused by the users. However, the control parameters in the non-linear adaptive control law were manually adjusted. In this paper, an adaptive control strategy with automatic parameter adjustment by genetic algorithm is proposed. Simulations are presented to show the feasibility and effectiveness of the proposed scheme.

    Original languageEnglish
    Pages (from-to)172-180
    Number of pages9
    JournalInternational Journal of Mechatronics and Automation
    Issue number3-4
    Publication statusPublished - 2011


    • adaptive control
    • automation
    • genetic algorithm
    • ODW
    • omni-directional walker
    • parameter optimisation

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering
    • Industrial and Manufacturing Engineering
    • Computational Mathematics
    • Computational Mechanics


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