基于非线性H∞机器人鲁棒PID控制器设计

Design of a robust H∞ PID control for robot manipulators

各种限制条件阻碍了工业机器人运动控制器性能的提高。例如,摩擦力和动态干扰限制了简单的PID控制器性能。通过解决非线性L增益衰减问题,提出一种基于非线性H∞鲁棒PID控制2器并且对这个控制器的稳定性、鲁棒性和性能调节方法进行了分析。最后给出了对两连杆刚性机器人的仿真结果,验证了控制效果。

Manipulators are under various limitations against high quality motion control; for example, both frictional and dynamic disturbances should be dealt with a simple PID control struc- ture. A robust linear PID motion controller is proposed, which solves the nonlinear L2-gain attenuation control problem for robotic manipulators. The stability, robustness, and perfor- mance tuning of the proposed controller are analyzed. The analytical results are verified through simulations of a two-link rigid robot.