不确定康复训练机器人速度与加速度同时约束的跟踪控制

针对不同康复者质量及系统重心偏移产生的不确性，影响康复步行训练机器人对医生指定训练轨迹的跟踪精度问题，设计了估计不确定性的滤波器，目的是提高控制系统的鲁棒性。同时，为了避免运动过程中速度和加速度发生突变，提出了一种抑制系统不确定性并同时约束运动速度与加速度的控制器设计新方法。通过Lyapunov稳定性构造速度和加速度的约束条件，证明了跟踪误差系统的渐近稳定性，并得到了控制器参数矩阵的求解方法。通过仿真结果对比分析和实验研究，表明了文中提出控制器设计方法的有效性和优越性，验证了所设计的控制器能同时约束康复步行训练机器人的运动速度和加速度。 

Tracking Control for Uncertain Rehabilitative Training Walker with Velocity and Acceleration Simultaneous Constraints

In order to solve the uncertainty problem caused by different rehabilitee mass and the center of gravity shift, affecting the tracking precision of the rehabilitative training walker in accordance with the doctor prescribe training programs, a filter was designed to estimate the uncertainty and improve the robust performance of control system. Considering the sudden shift of motion velocity and acceleration during training, a new method was proposed for the control system design to restrain the uncertainty and restrict the velocity and acceleration simultaneously. The constraint condition of velocity and acceleration was established in Lyapunov stability,validating the asymptotic stability of the tracking error system, and obtaining the solution method for parameter matrices. Comparing the simulation and experiment results, it is showed that the motion velocity and acceleration of the rehabilitative training walker can be constrained simultaneously. The results validate the effectiveness and advantage of the proposed design method for control system.