一种全方位移动型下肢康复机器人鲁棒跟踪控制研究

Robust tracking control of omnidirectional lower limbs rehabilitation robot

针对重心偏移情况下全方位下肢康复机器人的轨迹跟踪问题,提出一种H∞鲁棒解决策略。研究主要包括两方面内容:a)考虑重心变化情况下全方位移动下肢康复机器人的动态建模;b)提出一种自适应鲁棒H∞跟踪策略以消除重心变化所带来的影响。使用MATLAB对系统进行了仿真研究,仿真结果表明提出的鲁棒控制策略是正确有效的。

This paper proposed an adaptive robust trajectory scheme for walker＇s trajectory tracking during centre-of-gravity shift.The main research contents of consist of two parts：a）integrated the dynamic model that considered centre-of-gravity position within the control framework.b）Developed and used an adaptive robust H∞ control strategy to achieve the desired trajectories.Simulation tests of MATLAB demonstrate the feasibility and efficacy of the proposed method.