Tracking control for lower limb rehabilitation robots based on polynomial nonlinear uncertain models

摘要

Abstract This paper aims to propose a novel idea for the modeling and trajectory tracking control of a lower limb rehabilitation robot. A polynomial nonlinear uncertain model is established to deal with the difficulty of accurate modeling for the lower limb rehabilitation robot with complex dynamic characteristics. A high‐order nonlinear disturbance observer (HONDO) is utilized to estimate the lumped disturbance with fast time‐varying and the corresponding observer gain matrix is obtained by H ∞ performance. Then an HONDO‐based composite tracking controller is designed to achieve good tracking performance of the lower limb rehabilitation robot. In addition, all solvability conditions can be directly handled by sum of squares programming, effectively avoiding the calculation problem. Finally, numerical simulations are conducted to verify the validity of the proposed method.