| In recent years, the omni-directional walking recovery device for the auxiliaryperformance of the lower limbs centre-of-gravity shift caused wide public concern.However, walker doctor requires precise tracking of training path to achieve a goodrecovery effect on the patients. Therefore, the study of the trajectory tracking control ofwalking has the extremely important significance. For walking machine mechanicalstructure in the practical application of unpredictable disturbance caused by friction andsurvivors cause heart walk esteem migration will affect training specified path tracking.This paper carried out research work, specific content as follows:The first, the omni-directional walking device of robust output feedback controlproblem. Through the mechanical structure of the system, the friction between the walkersystem kinematics and dynamics model is set up. The stability of the authentication systembased on stability theory, and gives the sufficient conditions for the system satisfy theperformance index.Secondly, studied the robust trajectory tracking control-problem of omni-directionalwalking.For the omni-directional walking what is the presence of disturbance trajectorytracking controller is designed, and the trajectory tracking of interference suppression andwalking down to the robust controller design problem. At the same time, gives thesufficient conditions for the robust stability of the system gradually, and the simulationverify the feasibility and effectiveness of the proposed algorithm.Finally, study the centre-of-gravity shift cases of omni-directional walking trajectorytracking problems. Including the research content of two aspects: the center of gravityoffset cases of omni-directional walking system modeling; Robust control strategy was putforward to eliminate the impact of the center of gravity offset Control algorithm isvalidated by computer simulation with tracking performance as well as to the interferencesuppression ability. |
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