Humanoid robot control method based on high-order all-drive theory

The invention relates to the technical field of humanoid robot control, in particular to a humanoid robot control method based on a high-order all-drive theory. Comprising the steps that an error dynamic model of the humanoid robot is established according to an MDH parametric method and Lagrange dynamics; according to the type of the used motor, a mathematical model of the motor is introduced into the error dynamic model, and a high-order system model of the humanoid robot is established; designing internal and external uncertainty of a nonlinear disturbance observer compensation system; and designing a trajectory tracking controller by using a parameterization method in a high-order all-drive theory. The controllable degree of freedom is rich and flexible, and the control precision is high. 本发明涉及本发明涉及人形机器人控制技术领域领域，具体涉及一种基于高阶全驱理论的人形机器人控制方法。包括：根据MDH参数法和拉格朗日动力学建立人形机器人的误差动力学模型；根据所使用的电机类型，将电机的数学模型引入所述误差动力学模型，建立人形机器人的高阶系统模型；设计非线性干扰观测器补偿系统的内外不确定性；利用高阶全驱理论中的参数化方法设计轨迹跟踪控制器。可控自由度丰富且灵活，具有控制精度高的优点。