文档介绍：II 华中科技大学博士学位论文更强的鲁棒性,适合于多变量不确定非线性系统的动态控制。研究了上肢康复机器人的姿态控制问题。分析了上肢康复机器人的功能和结构, 对上肢康复系统的机械结构部分建立了动力学模型。根据临床观察和患肢的病理分析,设计患者的主动作用函数。根据上肢康复机器人的控制需求,结合人体运动控制思想,采用鲁棒控制实现了上肢康复系统的大幅度姿态运动控制。根据李亚普诺夫稳定性定理,设计鲁棒控制律,并在仿真和实验中验证该控制律的有效性。讨论了上肢康复机器人的轨迹跟踪问题。基于逆向动力学补偿和滑模控制,提出一种多变量滑模控制策略,较好地实现了上肢康复系统的机械结构模型的轨迹跟踪控制。最后,对全文进行了总结,并指出了下一步需要进行的工作。关键词: 上肢康复机器人, 矢状面内人体上肢, 姿态控制, 轨迹跟踪控制, 神经网络控制, 鲁棒控制, 滑模控制 III 华中科技大学博士学位论文 Abstract With the increasing number of the hemiplegia patient, persons regard the rehabilitation therapy of the arm movement functional disorder as a more important thing. But, the current rehabilitation systems are driven by the motor, and have an open-loop control structure. The active movement cons ciousness of the patients and the feedback signal during the therapy are not usually been considered. This dissertation is to study the human arm motion control in the sagittal plane and the rehabilitation robot control based on the research results of the human arm movement mechanism. The research work has been done in this dissertation includes the following aspects: The posture control of the human arm in th e sagittal plane is discussed. The dynamic characteristic of the human arm in the sagittal plane is analyzed, and then the arm is modeled as a neuro-musculoske letal model with two degrees of freedom and six muscles. A multilayer work containing feedforward and feedback control modes is used. The duration of the moveme nt is regulated according as the current feedback states. The Levenberge-Marguardt training algorithm and the resilient back propagation algorithm pared. Based on cerebellar model articul ation controller, fuzzy cont rol, sliding mode control scheme, and the dynamic characteristic and th e control requirement of the human arm, a sliding-mode-based fuzzy cerebellar model articulation controller is investigated. The sliding mode function is used to transfer the input variables; a quantization mode based multidimensional receptive field