SUMMARYIn this paper, hybrid control of central pattern generators (CPGs), along with an adaptive supper-twisting sliding mode (ASTSM) control based on supper-twisting state observer, is proposed to guard against disturbances and uncertainties. Rhythmic and coordinated signals are generated using CPGs. In addition, to overcome the chattering of conventional sliding mode, supper-twisting sliding mode has been applied. The ASTSM method triggers sliding variables, and its derivatives tend to zero continuously in the presence of the uncertainties. Moreover, to acquire maximum stability, the desired trajectory of the upper limb based on zero moment point criterion is designed.

中文翻译：

---

基于CPG和ZMP的下肢外骨骼混合自适应鲁棒控制

摘要在本文中，提出了中央模式发生器（CPG）的混合控制以及基于超扭曲状态观测器的自适应超扭曲滑模（ASTSM）控制，以防止干扰和不确定性。节奏和协调的信号是使用 CPG 生成的。此外，为了克服传统滑模的颤振，应用了超扭曲滑模。ASTSM 方法触发滑动变量，在存在不确定性的情况下，其导数不断趋于零。此外，为了获得最大的稳定性，设计了基于零矩点准则的上肢期望轨迹。