机器人系统自适应鲁棒H_∞跟踪控制器设计

Design of an Adaptive Robust H-infinity Tracking Controller for Robot System

为更好地解决机器人系统中存在的参数不确定和外部干扰的鲁棒控制问题,论文结合参数自适应方法,采用耗散性原理,设计了一种自适应鲁棒H∞跟踪控制器,解决了机器人系统同时存在参数不确定和外部干扰的干扰抑制问题。给出了此种自适应鲁棒H∞跟踪控制律存在的充分条件及设计方法,并通过典型算例说明了此类控制律的设计步骤。仿真结果表明,此法设计的控制器不仅对机器人系统可能受到的干扰具有较好的抑制能力,还对系统参数的不确定性具有一定的鲁棒性。

To solve the robust control problem of robot system with parameter uncertainties and outside disturbances, we use dissipative theory combined with the parameter adaptive method to design an adaptive robust H∞ tracking controller to solve the disturbance attenuation problem for robot systems which contain parameter uncertainties and are subjected to outside disturbances simultaneously. Combining well known research results of dissipative theory with parameter adaptive method, we formulate and prove the sufficient conditions for the existence of the adaptive robust H∞ controller ; keeping in mind these sufficient conditions, we can design the adaptive H∞ controller. Numerical simulation shows that the proposed controller not only has good ability to attenuate disturbances, but also is robust to some extent to the parameter uncertainties.