【摘要】 针对可穿戴上肢外骨骼系统在存在外界干扰和模型误差条件下的轨迹跟踪问题，提出了基于有限时间干扰观测器的非奇异快速终端滑模控制策略。首先，基于有限时间控制理论设计了干扰观测器，对建模误差和外界干扰进行在线估计，实现估计误差在有限时间内收敛到零；在此基础上，设计了非奇异快速终端滑模控制器，实现外骨骼在有限时间内对期望轨迹的准确跟踪。然后，基于李雅普诺夫理论证明了闭环系统的稳定性。最后，仿真结果证明了所提控制策略的收敛速度快、鲁棒性强。更多还原

【Abstract】 A Non-singular fast terminal sliding mode control strategy based on finite-time disturbance observer is proposed to solve the trajectory tracking problem of wearable upper limb exoskeleton system under the condition of external disturbance and model error. Firstly, a disturbance observer is designed based on the finite-time control theory, and the modeling errors and external disturbances are estimated online to realize the convergence of estimation error to zero within finite time. On this basis, a non-singular fast terminal sliding mode controller is designed to make the exoskeleton accurately track the desired trajectory in finite time. Then,the stability of the closed-loop system is proved by Lyapunov theory. Finally, the simulation results show that the proposed control strategy has fast convergence speed and strong robustness.更多还原