Precise trace tracking optimal control method for uncertain rehabilitation walking training robot

Abstract

The invention discloses a precise trace tracking optimal control method for an uncertain rehabilitation walking training robot. According to the method, a kinetic model of an uncertain rehabilitation walking training robot system is built, a one-order low-pass filter is built, the integral estimation is carried out on the uncertainty influencing the trace tracking precision of the rehabilitation walking training robot, a controller is designed on the basis of a precise feedback linearization method, and a linearization model of the system is built; on the basis of trace tracking errors, speed tracking errors and energy quadrics, a quadratic performance index of the rehabilitation walking training robot system is designed, the optimal control method is adopted, the precise trace tracking of the rehabilitation walking training robot is realized, and the performance index is optimized. Output high-precision PWM (pulse width modulation) signals are provided for a motor driving unit, so that the robot realizes precise tracking on reference trace signals. The control method has the advantages that the uncertainty bound of the system does not need to be known, the trace tracking precision of the rehabilitation walking training robot can be improved, and in addition, the system performance reaches the optimum.

Description

Technical field: [0001] The invention belongs to the field of control of wheeled rehabilitation robots, in particular to an optimal control method for precise trajectory tracking of an uncertain rehabilitation walking training robot. Background technique: [0002] The rehabilitation walking training robot needs to accurately track the training trajectory specified by the doctor in order to achieve a satisfactory rehabilitation effect. However, the trajectory tracking accuracy is seriously affected by the uncertainty brought about by the mass of the rehabilitation person and the system eccentricity. Therefore, it is of great significance to study the optimal control method to improve the trajectory tracking accuracy and realize the system performance. The present invention regards the uncertainty of the rehabilitation walking training robot system as a whole, and estimates it by constructing a first-order low-pass filter, so that it is not necessary to know the limit of the s...

AI Technical Summary

Problems solved by technology

However, due to the uncertainty brought by the quality of the rehabilitation person and the system eccentricity, the trajectory tracking accuracy is seriously affected. Therefore, it is of great significance to study the optimal control method to improve the trajectory tracking accuracy and achieve system performance.

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