Research On Adaptive Robust Trajectory Tracking Control Method Of Lower Limb Rehabilitation Robot

As China is gradually entering the aging society, more and more people suffer from walking disorder because of illness or unexpected reasons. Scientific training is the key to make patients recover health. Omni-directional lower limb rehabilitation robot with the remarkable properties of high intelligence and good security emerges and draws the world’s attention. Precise control of trajectory tracking is the key of rehabilitation robot to help patients do rehabilitation training. The disturbances from uncertain load mass and the centreof-gravity shift caused by the load factors undoubtedly result in the path deviation of robot. This thesis carried out research work, specific content as follows:Firstly, kinematics model and dynamics model of the system were studied in allusion to training situation which the disturbances from load mass and the centre-of-gravity shift caused by the load factors are uncertain.Secondly, the robust adaptive trajectory tracking control-problem of omni-directional of omni-directional lower limb rehabilitation robot was studied. Under the condition of existence interference, the interference suppression and the trajectory tracking problem were treated as the controller of the adaptive robust L2 design problems. The system was proved asymptotically stable by using the stability theorem.Finally, the simulation verified the adaptive robust L2 trajectory tracking control method,which was effective and feasible. Series of simulation verified the effectiveness of the algorithm.