应用数学和力学2025，Vol.46Issue(4)：451-464,14.DOI:10.21656/1000-0887.450085
基于广义Udwadia-Kalaba方法的下肢康复机器人鲁棒约束跟随控制
Robust Constraint Following Control of Lower Limb Rehabilitation Robots Based on the Generalized Udwadia-Kalaba Method
摘要
Abstract
A robust constraint following controller based on the generalized Udwadia-Kalaba(U-K)equation was proposed for the problem of equality constraints and inequality constraints in the lower limb rehabilitation robot system,to make the system meet the equality constraints and inequality constraints at the same time,solve the uncertainty in the system,and achieve good constraint following effects on the robot.During the working process of the robot,the traditional control method is difficult to ensure that the motion range of the robot is within the boundary conditions,resulting in secondary injury to the patient during use.To solve the in-fluence of boundary problems,a control method was proposed to use the diffeomorphism transformation to in-corporate the equality constraint and inequality constraint system into the U-K equation,with the generalized U-K equation established mathematically.On this basis,a robust constraint tracking strategy was presented to en-sure satisfactory performances of the system in the presence of uncertainties and various constraints.In addi-tion,the stability of the robust control method was theoretically proved with the Lyapunov function.The simu-lation results show that,the robust control method has high-precision tracking control of a given trajectory un-der non-ideal conditions.关键词
广义Udwadia-Kalaba方程/不等式约束/鲁棒控制/下肢康复机器人Key words
generalized Udwadia-Kalaba equation/inequality constraint/robust control/lower limb rehabilitation robot分类
机械工程引用本文复制引用
孙浩,汪新,胡澳华,马超..基于广义Udwadia-Kalaba方法的下肢康复机器人鲁棒约束跟随控制[J].应用数学和力学,2025,46(4):451-464,14.基金项目
国家自然科学基金(52105093) 本文作者衷心感谢安徽省智能机器人信息融合与控制工程实验室开放课题(IFCIR2024003)、合肥工业大学学术新人提升计划B项目(JZ2023HGTB0250)对本文的资助. （52105093）
