Rehabilitation robot control method based on disturbance compensation and finite time command filter

Abstract

The present application relates to the field of flexible actuator driven rehabilitation robot control, and discloses a rehabilitation robot control method based on interference compensation and finite time instruction filtering, which comprises a finite time instruction filter, a finite time filtering error compensator, a first finite time disturbance observer, a second finite time disturbance observer and a composite anti-interference finite time backstepping controller. Compared with the traditional backstepping control method, the present application solves the problem of 'derivative explosion' in the traditional backstepping control method and the problem of filtering error reducing system control performance in the dynamic surface control method. In addition, the control method of the present application uses a finite time disturbance observer to estimate system disturbance, and can be applied to various types of interference suppression situations through disturbance compensation, thereby improving the anti-interference ability of the system.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flexible actuator driven rehabilitation robot control, and particularly relates to a rehabilitation robot control method based on disturbance compensation and finite time command filtering. BACKGROUND

[0002] The statements in this section merely provide background technology related to the present application and do not necessarily constitute the prior art.

[0003] In recent years, robots have developed rapidly. In the field of medical rehabilitation, flexible actuator driven rehabilitation robots have attracted widespread attention. Such rehabilitation robots are usually designed with unique flexible mechanisms, which can greatly ensure the safety of human-machine interaction. Flexible actuator driven rehabilitation robots also have advantages such as high load, impact resistance, and low power consumption. However, the system order of the dynamic model of the flexible actuator driven rehabilitation robot is twice that of the traditional rehabilitation robot. In addition, unknown multi-source disturbances (such as parameter perturbation and external environmental disturbance) exist in the working process of the flexible actuator driven rehabilitation robot, which reduces the accuracy of the control system and even destroys the stability of the system. In summary, this brings difficulties and challenges to the design of the trajectory tracking controller of the flexible actuator driven rehabilitation robot. Considering that the working task of the flexible actuator driven rehabilitation robot is complex and variable, the designed trajectory tracking controller should not only ensure high precision tracking, but also have anti-interference ability in various complex working conditions.

[0004] At present, the backstepping control method is widely used in flexible actuator driven rehabilitation robots. However, considering that the actual flexible actuator driven rehabilitation robot is a nonlinear system with strong coupling dynamics, the traditional backstepping control method is difficult to meet the requirements of tracking accuracy and robustness in various complex environments; in addition, the traditional backstepping control method has the problem of "derivative explosion", which increases the computational burden of the system to some extent. SUMMARY

[0005] In order to solve the problems of the prior art, the present application provides a rehabilitation robot control method based on disturbance compensation and finite time command filtering, which has good anti-interference performance and convergence, solves the problems of "derivative explosion" in the traditional backstepping control method and filtering error reducing system control performance in the dynamic surface control method, and can be applied to various types of interference suppression situations.

[0006] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0007] The present application provides a rehabilitation robot control method based on disturbance compensation and finite time command filtering.

[0008] A rehabilitation robot control method based on disturbance compensation and finite-time command filtering, comprising the following processes:

[0009] a filter signal of the virtual control signal and a first derivative signal of the filter signal are obtained according to the virtual control signal;

[0010] a filter error compensation signal is obtained according to the virtual control signal and the filter signal;

[0011] an arm-side total time-varying disturbance estimation signal is obtained according to an arm-side actual position signal, a motor-side actual position and an arm-side total time-varying disturbance signal;

[0012] a motor-side total time-varying disturbance estimation signal is obtained according to a motor-side actual position signal and an actual output control torque signal in the composite anti-disturbance finite-time backstepping controller and a motor-side total time-varying disturbance signal;

[0013] the virtual control signal and the actual output control torque signal are obtained according to an expected arm-side reference position signal, an arm-side actual position signal, an arm-side total time-varying disturbance estimation signal, a motor-side total time-varying disturbance estimation signal, a filter error compensation signal and a first derivative signal of the filter signal, in combination with finite-time Lyapunov stability theory.

[0014] The second aspect of the present application provides a rehabilitation robot control system based on disturbance compensation and finite-time command filtering.

[0015] A rehabilitation robot control system based on disturbance compensation and finite-time command filtering, comprising:

[0016] a finite-time command filter configured to obtain a filter signal of the virtual control signal and a first derivative signal of the filter signal according to the virtual control signal;

[0017] a finite-time filter error compensator configured to obtain a filter error compensation signal according to the virtual control signal and the filter signal;

[0018] a first finite-time disturbance observer configured to obtain an arm-side total time-varying disturbance estimation signal according to an arm-side actual position signal, a motor-side actual position and an arm-side total time-varying disturbance signal;

[0019] a second finite-time disturbance observer configured to obtain a motor-side total time-varying disturbance estimation signal according to a motor-side actual position signal and an actual output control torque signal in the composite anti-disturbance finite-time backstepping controller and a motor-side total time-varying disturbance signal;

[0020] The composite anti-interference finite time backstepping controller is configured to obtain a virtual control signal and an actual output control torque signal according to a reference position signal of the arm side, an actual position signal of the arm side, a total time-varying disturbance estimation signal of the arm side, a total time-varying disturbance estimation signal of the motor side, a filter error compensation signal and a first derivative signal of the filter signal, in combination with finite time Lyapunov stability theory.

[0021] The third aspect of the present application provides a computer readable storage medium, which stores a program, and the program is executed by a processor to implement the steps of the rehabilitation robot control method based on interference compensation and finite time command filtering according to the first aspect of the present application.

[0022] The fourth aspect of the present application provides an electronic device, which comprises a memory, a processor and a program stored in the memory and executable on the processor, and the processor executes the program to implement the steps of the rehabilitation robot control method based on interference compensation and finite time command filtering according to the first aspect of the present application.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] 1. Compared with the traditional backstepping control method, the method disclosed by the present application belongs to a finite time command filtering control method, solves the problems of 'derivative explosion' in the traditional backstepping control method and filter error reduction of the dynamic surface control method, and can be applied to various types of interference suppression situations.

[0025] 2. The method disclosed by the present application uses a finite time disturbance observer to estimate system disturbance, improves the anti-interference ability of the system through disturbance compensation, and also improves the tracking accuracy of the system. BRIEF DESCRIPTION OF DRAWINGS

[0026] The drawings constituting a part of the present application are used to provide further understanding of the present application, the illustrative embodiments of the present application and the description thereof are used to explain the present application, and do not constitute improper limitation on the present application.

[0027] Figure 1 A principle diagram of a flexible actuator driven rehabilitation robot is provided for embodiment 1 of the present application;

[0028] Figure 2 A principle block diagram of a control system is provided for embodiment 1 of the present application;

[0029] Figure 3 An arm side position output simulation comparison result diagram of a rehabilitation robot suffering from external disturbance of the arm side is provided for embodiment 1 of the present application;

[0030] Figure 4A comparison result chart of arm side position output simulation of the rehabilitation robot suffering from arm side external disturbance provided for the embodiment 1 of the present application;

[0031] Figure 5 A comparison result chart of arm side position tracking error output simulation of the rehabilitation robot suffering from arm side external disturbance provided for the embodiment 1 of the present application;

[0032] Figure 6 An output result chart of the first finite time disturbance observer to the rehabilitation robot suffering from arm side external disturbance provided for the embodiment 1 of the present application;

[0033] Figure 7 An output result chart of the second finite time disturbance observer to the rehabilitation robot suffering from arm side external disturbance provided for the embodiment 1 of the present application;

[0034] Figure 8 A comparison result chart of arm side position output simulation of the rehabilitation robot suffering from motor side external disturbance provided for the embodiment 1 of the present application;

[0035] Figure 9 A comparison result chart of motor side position output simulation of the rehabilitation robot suffering from motor side external disturbance provided for the embodiment 1 of the present application;

[0036] Figure 10 A comparison result chart of arm side position tracking error output simulation of the rehabilitation robot suffering from motor side external disturbance provided for the embodiment 1 of the present application;

[0037] Figure 11 An output result chart of the first finite time disturbance observer to the rehabilitation robot suffering from motor side external disturbance provided for the embodiment 1 of the present application;

[0038] Figure 12 An output result chart of the second finite time disturbance observer to the rehabilitation robot suffering from motor side external disturbance provided for the embodiment 1 of the present application. DETAILED DESCRIPTION

[0039] The present application will be further described below in conjunction with the accompanying drawings and embodiments.

[0040] It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0041] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0042] In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0043] Embodiment 1:

[0044] In order to solve the problems of "derivative explosion" of the existing backstepping control method, the filtering error reduction system control performance and poor disturbance rejection performance of the dynamic surface control method of the rehabilitation robot driven by the flexible actuator, the present embodiment discloses a rehabilitation robot control method based on disturbance compensation and finite time command filtering. The control method described in the present embodiment can realize fast tracking control; the "derivative explosion" problem in the traditional backstepping control is solved by designing a finite time command filter; the influence of the filtering error existing in the dynamic surface control method on the control system accuracy is reduced by designing a finite time filtering error compensator; the disturbance rejection ability of the rehabilitation robot system driven by the flexible actuator is improved by introducing a disturbance observer in the controller for disturbance compensation.

[0045] The control method described in the present embodiment mainly includes the following processes: designing a finite time disturbance observer, designing a finite time command filter, designing a finite time filtering error compensator, designing a composite anti-disturbance finite time backstepping controller, and finally generating an actual control torque .

[0046] Specifically, the control method described in the present embodiment, as shown in Figure 1 and Figure 2 , includes the following processes:

[0047] S1: Establish the mathematical model of the rehabilitation robot driven by the flexible actuator as:

[0048] (1)

[0049] wherein, is an actual position signal on the arm side, is a first-order time derivative of the actual position signal on the arm side, is a second-order time derivative of the actual position signal on the arm side, is an actual position signal on the motor side, is a first-order time derivative of the actual position signalthe first time derivative of , is the actual position signal of the motor side the second time derivative of is the input torque of the system, is the generalized moment of inertia, is the Coriolis force and centripetal force, is the gravity torque, is the joint stiffness coefficient, is the motor inertia, is the damping coefficient, and are the external disturbances on the arm side and the motor side of the system, respectively.

[0050] In order to facilitate the control of the flexible actuator driven rehabilitation robot, the above mathematical model is expressed in the form of the following state space expression, i.e.

[0051] (2)

[0052] wherein, , , , , , , , , and are the total time-varying disturbance signals on the arm side and the motor side, respectively, and are the nominal values of and , and are the uncertain terms of and .

[0053] S2: State space expression of the flexible actuator driven rehabilitation robot, introducing an extended state variable , , the state space expression of the flexible actuator driven rehabilitation robot can be rewritten as

[0054] (3)

[0055] and

[0056] (4)

[0057] wherein, the variable represents the total time-varying disturbance on the arm side and its highest order up to time derivative of , denotes the total time-varying disturbance on the motor side and its time derivative up to the highest order .

[0058] According to the state space expression of the rehabilitation robot driven by the reformed flexible actuator, combined with the measured arm side position signal , motor side position signal and actual control torque , the first finite time disturbance observer (FTDO I) and the second finite time disturbance observer (FTDO II) are designed as:

[0059] (5)

[0060] and

[0061] (6)

[0062] wherein, is the state variable of the first finite time disturbance observer, and denote the estimates of the variables and , and are the coefficients of the first finite time disturbance observer, is the state variable of the second finite time disturbance observer, and denote the estimates of the variables and , and are the coefficients of the first finite time disturbance observer.

[0063] S3: According to the finite time command filter backstepping control theory, the finite time command filter is designed as:

[0064] (7)

[0065] wherein, z=2,3,4, is the state variable of the finite time command filter, is the intermediate term, is the input variable, which is the virtual control signal in the composite anti-disturbance finite time backstepping control given in the following steps, are the coefficients of the finite time command filter, is the standard sign function. In addition, the state variable is the input variable ​filtered signal, state variable derivative of time can be approximated as the derivative of time of the input variable .

[0066] S4: Combining the desired arm-side position signal , the arm-side position signal , the arm-side velocity signal , the motor-side position signal , the motor-side velocity signal and the output signal of the finite-time command filter , the system tracking error is calculated as:

[0067] (8)

[0068] S5: Considering that filtering error will sacrifice the control performance of the system, a finite-time filtering error compensator is designed as:

[0069] (9)

[0070] where is the state variable of the finite-time filtering error compensator, also called the compensation signal, and are the coefficients of the finite-time filtering error compensator.

[0071] S6: According to the system tracking error and the compensation signal , the compensated tracking error is calculated as:

[0072] (10)

[0073] S7: According to the finite-time Lyapunov stability and the finite-time command filter backstepping control theory, combining the system tracking error and the compensated tracking error , a composite anti-disturbance finite-time backstepping controller is designed as:

[0074] (11)

[0075] where is the virtual control signal in the composite anti-disturbance finite-time backstepping controller, is the actual output control torque signal in the composite anti-disturbance finite-time backstepping controller, ​​which can be obtained by a finite-time command filter, and are coefficients of a composite anti-disturbance finite-time backstepping controller, is a desired arm-side reference position signal is a time derivative of and are estimations of total time-varying disturbances on the arm side and the motor side respectively, which can be obtained by a first finite-time disturbance observer and a second finite-time disturbance observer respectively.

[0076] The performance of the control method disclosed in the present application is simulated and verified on a two-joint flexible actuator driven rehabilitation robot. First, in the case that the rehabilitation robot is subjected to external arm-side disturbance, the tracking performance and anti-disturbance ability of the control method disclosed in the present application are verified. Assuming that the two-joint flexible actuator driven rehabilitation robot applies an external arm-side disturbance in the following form : in the time period of 20 to 30 seconds, , in the remaining simulation time period, .

[0077] Figure 3 The arm-side position output simulation comparison results of the flexible actuator driven rehabilitation robot subjected to external arm-side disturbance under the traditional control method and the control method disclosed in the present application are given. Both the traditional control method and the control method of the present application can achieve satisfactory tracking results.

[0078] Figure 4 The motor-side position output simulation comparison results under this scenario are shown. As can be seen from the figure, under the traditional control method and the control method of the present application, the actual position output of the motor is bounded. In addition, the tracking error under this scenario is shown in Figure 5 Compared with the traditional active disturbance rejection control method (ADRC) and the finite-time command filter control method without disturbance compensation (FTCFBC), the control method of the present application can achieve smaller tracking error, and therefore has higher tracking accuracy and stronger anti-disturbance ability.

[0079] Figure 6 The estimation of the total time-varying disturbance on the arm side and the speed signal of the arm side of the flexible actuator driven rehabilitation robot subjected to external arm-side disturbance by the first finite-time disturbance observer is given. Figure 7 The estimation of the total time-varying disturbance on the motor side and the speed signal of the motor side of the flexible actuator driven rehabilitation robot subjected to external arm-side disturbance by the second finite-time disturbance observer is given. As can be seen from Figure 6 and Figure 7 , the finite-time disturbance observer disclosed in the present application can achieve accurate estimation.

[0080] Finally, regarding the external interference on the motor side of the rehabilitation robot, the tracking performance and anti-interference capability of the control method disclosed in this invention were verified in this scenario. It is assumed that the rehabilitation robot driven by the flexible actuators of the two joints is subjected to the following form of external interference on the motor side. Within a timeframe of 20 to 30 seconds, During the remaining simulation period, .

[0081] Figure 8 The simulation results of the arm position output of a rehabilitation robot driven by a flexible actuator subjected to external disturbances on the motor side are presented in the figure. The results show that both the conventional control method and the control method of the present invention can achieve satisfactory tracking results.

[0082] Figure 9 The diagram shows a comparison of the simulation results of the motor-side position output in this scenario. As can be seen from the diagram, the actual motor position output is bounded under both the traditional control method and the control method of this invention. Furthermore, the tracking error in this scenario is as follows: Figure 10 As shown, compared with the traditional ADRC control method and the FTCFBC without interference compensation, the control method of the present invention can achieve smaller tracking errors, thus having higher tracking accuracy and stronger anti-interference ability.

[0083] Figure 11 The first finite-time perturbation observer is given to estimate the total time-varying perturbation and the velocity signal on the arm side of a rehabilitation robot driven by a flexible actuator and subjected to external disturbances on the motor side.

[0084] Figure 12 The second finite-time perturbation observer is presented to estimate the total time-varying perturbation on the motor side and the motor-side velocity signal of a rehabilitation robot driven by a flexible actuator and subjected to external disturbances on the motor side. From Figure 11 and Figure 12 It can be seen that the finite-time perturbation observer disclosed in this invention can achieve accurate estimation.

[0085] Based on the simulation results analysis under different disturbance scenarios, the control method of the present invention can be applied to various types of disturbance suppression situations.

[0086] Example 2:

[0087] Embodiment 2 of the present invention provides a rehabilitation robot control system based on interference compensation and finite-time command filtering, comprising:

[0088] The finite time command filter is configured to obtain a filtered signal of the virtual control signal and a first derivative signal of the filtered signal according to the virtual control signal.

[0089] The finite time filter error compensator is configured to obtain a filter error compensation signal according to the virtual control signal and the filtered signal.

[0090] The first finite time disturbance observer is configured to obtain an estimated total time-varying disturbance signal of the arm side according to an actual position signal of the arm side, an actual position of the motor side and a total time-varying disturbance signal of the arm side.

[0091] The second finite time disturbance observer is configured to obtain an estimated total time-varying disturbance signal of the motor side according to an actual position signal of the motor side and an actual output control torque signal in the composite anti-interference finite time backstepping controller and a total time-varying disturbance signal of the motor side.

[0092] The composite anti-interference finite time backstepping controller is configured to obtain the virtual control signal and the actual output control torque signal according to an expected reference position signal of the arm side, the actual position signal of the arm side, the estimated total time-varying disturbance signal of the arm side, the estimated total time-varying disturbance signal of the motor side, the filter error compensation signal and the first derivative signal of the filtered signal, in combination with finite time Lyapunov stability theory.

[0093] The working method of each component of the system is the same as the corresponding part of the rehabilitation robot control method based on disturbance compensation and finite time command filtering provided in Embodiment 1, and will not be repeated here.

[0094] Embodiment 3

[0095] Embodiment 3 of the present application provides a computer readable storage medium having a program stored thereon, the program being executed by a processor to implement the steps in the rehabilitation robot control method based on disturbance compensation and finite time command filtering as described in Embodiment 1 of the present application.

[0096] Embodiment 4

[0097] Embodiment 4 of the present application provides an electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps in the rehabilitation robot control method based on disturbance compensation and finite time command filtering as described in Embodiment 1 of the present application.

[0098] Those skilled in the art will appreciate that embodiments of the application can be readily used as software, hardware, or a combination of software and hardware. In a software embodiment, the methods can be tangibly embodied in a computer-readable storage medium having stored

[0099] The present application is described in reference to the flowchart and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart and / or block diagrams, and combinations of blocks in the flowchart and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing system or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks.

[0100] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks.

[0101] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more functions specified in the flowchart and / or block diagram block or blocks.

[0102] Those skilled in the art will appreciate that implementing all or part of the methods described above in the embodiments can be done by way of computer program instructions, which can be stored in a computer-readable storage medium, which cause relevant hardware to carry out the steps in the above-described embodiments. The storage medium can be a magnetic disk, optical disk, Read-Only Memory (ROM) or Random Access Memory (RAM), etc.

[0103] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a rehabilitation robot based on interference compensation and finite-time command filtering, characterized in that, Includes the following processes: The filtered signal and the first derivative signal of the filtered signal are obtained from the virtual control signal. The filtering error compensation signal is obtained based on the virtual control signal and the filtering signal; The total time-varying disturbance estimation signal on the arm side is obtained based on the actual position signal on the arm side, the actual position on the motor side, and the total time-varying disturbance signal on the arm side. This process is executed by a first finite-time disturbance observer, which is: in, These are the state variables of the first finite-time perturbation observer. and Representing variables and The estimate, and The coefficients of the first finite-time perturbation observer. , and They are respectively and The nominal value, For generalized moment of inertia, This is the joint stiffness coefficient. , , This is the actual position signal of the arm side. The actual position signal of the arm side The first time derivative, It is the order of the highest derivative; The total time-varying disturbance estimation signal on the motor side is obtained based on the actual position signal on the motor side, the actual output control torque signal in the composite anti-interference finite-time backstepping controller, and the total time-varying disturbance signal on the motor side. Based on the desired reference position signal on the arm side, the actual position signal on the arm side, the total time-varying disturbance estimation signal on the arm side, the total time-varying disturbance estimation signal on the motor side, the filter error compensation signal, and the first derivative signal of the filter signal, combined with the finite-time Lyapunov stability theory, the virtual control signal and the actual output control torque signal are obtained.

2. The rehabilitation robot control method based on interference compensation and finite-time command filtering as described in claim 1, characterized in that, The process of obtaining the filtered signal and the first derivative signal of the virtual control signal from the virtual control signal is executed by a finite-time command filter. The execution of the finite-time command filter includes: in, , For the state variables of a finite-time command filter. For the middle term, The input variables of the finite-time command filter are represented. The coefficients are those of a finite-time command filter. For standard symbolic functions, state variables Input variables The filtered signal.

3. The rehabilitation robot control method based on interference compensation and finite-time command filtering as described in claim 1, characterized in that, The process of obtaining the filtering error compensation signal based on the virtual control signal and the filtering signal is executed by a finite-time filtering error compensator, which is: in, Let be the state variable of the finite-time filter error compensator, i.e., the filter error compensation signal. and These are the coefficients of the finite-time filter error compensator. The output signal of the finite-time command filter, i.e., the filtered signal. For virtual control signals, , for The nominal value, It is the generalized moment of inertia.

4. The rehabilitation robot control method based on interference compensation and finite-time command filtering as described in claim 1, characterized in that, The process of obtaining the total time-varying disturbance estimate signal on the motor side based on the actual position signal on the motor side, the actual output control torque signal in the composite anti-interference finite-time backstepping controller, and the total time-varying disturbance signal on the motor side is executed by the second finite-time disturbance observer, which includes: in, , , This is the actual position signal on the motor side. The actual position signal on the motor side The first time derivative, These are the state variables of the second finite-time perturbation observer. and Representing variables and The estimate, and The coefficients of the second finite-time perturbation observer. , For motor inertia, To output the actual control torque signal, It is the order of the highest derivative.

5. The rehabilitation robot control method based on interference compensation and finite-time command filtering as described in claim 3, characterized in that, Based on the desired reference position signal on the arm side, the actual position signal on the arm side, the total time-varying disturbance estimation signal on the arm side, the total time-varying disturbance estimation signal on the motor side, the filter error compensation signal, and the first derivative signal of the filter signal, and combined with the finite-time Lyapunov stability theory, the process of obtaining the virtual control signal and the actual output control torque signal is executed by a composite anti-interference finite-time backstepping controller. The composite anti-interference finite-time backstepping controller includes: in, For system tracking error, To compensate for the tracking error, For virtual control signals, This refers to the actual output control torque signal in the composite anti-interference finite-time backstepping controller. The first derivative signal of the filtered signal. and For coefficients, For the desired arm-side reference position signal Time derivative, and These are estimates of the total time-varying disturbance on the arm side and the total time-varying disturbance on the motor side, respectively. , , for The nominal value, For generalized moment of inertia, This represents the motor's inertia.

6. A rehabilitation robot control system based on interference compensation and finite-time command filtering, characterized in that, include: The finite-time command filter is configured to: obtain the filtered signal of the virtual control signal and the first derivative signal of the filtered signal based on the virtual control signal; A finite-time filter error compensator is configured to obtain a filter error compensation signal based on a virtual control signal and a filter signal. The first finite-time disturbance observer is configured to: obtain the total time-varying disturbance estimate signal on the arm side based on the actual position signal on the arm side, the actual position on the motor side, and the total time-varying disturbance signal on the arm side. This process is executed by the first finite-time disturbance observer, which is: in, These are the state variables of the first finite-time perturbation observer. and Representing variables and The estimate, and The coefficients of the first finite-time perturbation observer. , and They are respectively and The nominal value, For generalized moment of inertia, This is the joint stiffness coefficient. , , This is the actual position signal of the arm side. The actual position signal of the arm side The first time derivative, It is the order of the highest derivative; The second finite-time disturbance observer is configured to obtain the total time-varying disturbance estimation signal on the motor side based on the actual position signal on the motor side, the actual output control torque signal in the composite anti-interference finite-time backstepping controller, and the total time-varying disturbance signal on the motor side. The composite anti-interference finite-time backstepping controller is configured to: obtain the virtual control signal and the actual output control torque signal based on the desired reference position signal on the arm side, the actual position signal on the arm side, the total time-varying disturbance estimation signal on the arm side, the total time-varying disturbance estimation signal on the motor side, the filter error compensation signal, and the first derivative signal of the filter signal, combined with the finite-time Lyapunov stability theory.

7. The rehabilitation robot control system based on interference compensation and finite-time command filtering as described in claim 6, characterized in that, A composite anti-interference finite-time backstepping controller includes: in, For system tracking error, To compensate for the tracking error, These are the coefficients of the finite-time filter error compensator. For virtual control signals, This refers to the actual output control torque signal in the composite anti-interference finite-time backstepping controller. The first derivative signal of the filtered signal. and For coefficients, For the desired arm-side reference position signal Time derivative, and These are estimates of the total time-varying disturbance on the arm side and the total time-varying disturbance on the motor side, respectively. , , for The nominal value, For generalized moment of inertia, This represents the motor's inertia.

8. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the rehabilitation robot control method based on interference compensation and finite-time instruction filtering as described in any one of claims 1-5.

9. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the rehabilitation robot control method based on interference compensation and finite-time instruction filtering as described in any one of claims 1-5.

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