Adaptive Robust Control for a Lower Limbs Rehabilitation Robot Running Under Passive Training Mode

摘要

This paper focuses on the problem of the adaptive robust control of a lower limbs rehabilitation robot (LLRR) that is a nonlinear system running under passive training mode.In reality,uncertainties including modeling error,initial condition deviation,friction force and other unknown external disturbances always exist in a LLRR system.So,it is necessary to consider the uncertainties in the unilateral man-machine dynamical model of the LLRR we described.In the dynamical model,uncertainties are (possibly fast) time-varying and bounded.However,the bounds are unknown.Based on the dynamical model,we design an adaptive robust control with an adaptive law that is leakagetype based and on the framework of Udwadia-Kalaba theory to compensate for the uncertainties and to realize tracking control of the LLRR.Furthermore,the effectiveness of designed control is shown with numerical simulations.