基于非线性干扰观测器的下肢外骨骼上楼梯滑模控制.PDFVIP

37 8 Vol. 37 No. 8 第 卷第 期 计算机应用研究 录用定稿 Application Research of Computers Accepted Paper 基于非线性干扰观测器的下肢外骨骼上楼梯滑模控制 于振中，姚锦涛 (江南大学 轻工过程先进控制教育部重点实验室, 无锡 214122) 摘 要：针对下肢外骨骼在轨迹跟踪时对内部参数扰动和外界干扰较为敏感的特性，设计一种基于非线性干扰观测 器的下肢外骨骼机器人滑模控制策略。首先建立下肢外骨骼上楼梯的动力学模型，分析其动力学特性；其次设计非 线性干扰观测器，对下肢系统的不确定性和外部干扰进行观测，在此基础上，为保证系统轨迹跟踪误差的收敛性， 减弱抖振，设计低通滤波的滑模控制器，根据李雅普诺夫稳定性理论，证明下肢系统的稳定性；最后通过仿真与实 验验证，该控制策略能够有效克服多种因素引起的干扰，改善系统的控制性能，提高系统的稳定性。 关键词：下肢外骨骼；动力学模型；非线性干扰观测器；滑模控制 中图分类号：TP242.6 doi: 10.19734/j.issn.1001-3695.2019.04.0087 Sliding mode control of lower extremity exoskeleton based on nonlinear disturbance observer Yu Zhenzhong, Yao Jintao (Ministry of Education Key Laboratory of Advanced Process Controlfor Light Industry, Jiangnan University, Wuxi 214 122, China) Abstract: Aiming at the characteristics of lower limb exoskeleton which is sensitive to internal parameter disturbance and external disturbance during trajectory tracking, this paper designs a sliding mode control strategy for lower extremity exoskeleton robot based on nonlinear disturbance observer. Firstly, the dynamic model of the upper extremity exoskeleton is established, and its dynamic characteristics are analyzed. Secondly, the nonlinear disturbance observer is designed to observe the uncertainty of the lower limb system and external disturbance. On this basis, in order to ensure the convergence of the tracking error of the system trajectory and weaken th