【摘要】 全方位轮式下肢康复训练机器人需要跟踪医生给受训者设定的轨迹.机器人自身的不确定性和患者在康复训练时对机器人运行产生的干扰会影响其跟踪性能.本文设计了一种非线性L₂鲁棒控制器解决上述扰动抑制问题.给出了下肢康复训练机器人的运动学模型,并由此建立了位置误差系统的动态模型.将机器人的跟踪和不确定干扰抑制归结为L2设计问题,构造存储函数通过反推（backstepping）控制算法设计了控制函数,并由此构造了满足干扰抑制的轨迹跟踪控制器.仿真和实验结果验证了所设计控制器的有效性.更多还原

【Abstract】 Omni-directional wheeled robot for lower limbs rehabilitative training needs to track trajectory which is set by doctors.The uncertainties of the robot and the disturbances caused by trained patient affect the tracking performances. A nonlinear robust L₂ controller is presented to solve disturbance rejection problems.Kinematics model of lower limbs rehabilitative training robot is presented,thereby,a kinematics model of the position error system is established.The tracking and uncertain disturbance rejection are formulated as an L₂ control question to design control law with backstepping algorithm in a built storage function.A trajectory tracking controller meeting the disturbance rejection requirement is constructed. Simulation and experiment results show that the proposed controller is effective.更多还原