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提出一种基于线性矩阵不等式 (LMI)的机器人系统分散鲁棒控制方法。首先以PUMA56 2机器人第四、五关节为被控对象 ,分别以其位置和速度为状态变量 ,建立状态空间模型 ,然后应用分散H∞ 控制的迭代LMI方法进行机器人系统的分散鲁棒控制器设计。仿真和实际结果表明本文提出的方法是非常有效的。
A decentralized Robust Robust Control System based on Linear Matrix Inequality (LMI) is proposed. Firstly, the fourth and fifth joints of the PUMA56 2 robot are controlled, and their state and velocity are used as state variables to establish the state space model. Then, the decentralized robust controller design of the robot system is implemented by using the iterative LMI method with decentralized H∞ control . Simulation and practical results show that the proposed method is very effective.