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中文摘要：
提出一种基于带观测器的条件状态反馈控制的仿人机器人相似性运动轨迹跟踪控制方法。首先，分析了7连杆双足机器人动力学模型，阐述了其运动能量方程与动力学特征方程；其次，基于带观测器的状态反馈控制器原理，构建起三维倒立摆平衡控制模型；最后，由线性二次型调节器确定状态反馈增益矩阵，使机器人轨迹跟踪误差最小化，以复现出较高相似度的双足步行运动效果。实验验证了该方法的有效性。
英文摘要：
A method of trajectory tracking control with similarity locomotion for humanoid robot based on state feedback controller with observer is proposed. Firstly, a dynamics model for a 7-1ink biped robot is analyzed, and the equations of movement energy and dynamics characteristics were illustrated. Secondly, the 3-dimensional inverted pendulum control model is constructed based on the state feedback controller with observer. Thirdly, a linear quadratic regulator is used to obtain the state feedback gain matrix, which makes the error of trajectory tracking minimal and reproduces the highly similar biped walking effect for robot. Experiments indicate the validity of the method.
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