MIMO系统的自校正极点限止算法的应用

THE APPLICATION OF SELF-TUNING CONTROLLER WITH POLE RESTRICTION ALGORITHM OF MIMO SYSTEMS

本文介绍了以极点配置法和最优线性二次型法为基础的自校正极点限制算法的原理、特点和条件,给出了数学推导和算法要点归纳。并通过在机器人手臂关节控制系统设计中的应用,说明了该算法在减少代数Riccati方程的计算量和增加系统鲁棒性上具有明显的优点。

In this paper, the self-tuning pole restriction algorithm based upon the pole assignment method and the optimal linear quadratic is introduced.The principle, behaviour and the condition of this algorithm are illustrated. This approach is applied to design a robot arm joint control system, with the result that the computational requirement for the algebraic Riccati equation is reduced, and the stability robustness of this system is also increased significantly.