中文摘要：

通过设计的一种下肢外骨骼机器人，建立下肢外骨骼的动力学方程及其电液伺服控制系统的阀控液压缸模型．针对下肢外骨骼步态控制过程中电液伺服位置控制系统的非线性、外在干扰等问题，设计了一种模糊PID滑模控制系统，通过滑模控制的切换函数，在不同情况下，结合模糊控制、PID控制的特点，选取不同的控制方式，并通过仿真分析，获知该控制器是有效可行的．

英文摘要：

The dynamic equation of the lower extremity and the valve controlled hydraulic cylinder model of the electro hydraulic servo control system were established by the design of a lower limb exoskeleton. A control system based on fuzzy PID sliding mode control was designed for the nonlinear and external disturbance of electro hydraulic servo position control system. In different situations, combined with fuzzy control, PID control characteristics, the different control methods was selected by sliding mode control of the switching function. And through the simulation analysis, the results showed that the controller is effective and feasible.