摘要
基于H∞混合灵敏度鲁棒控制方法设计了主从机械手的控制器。提出了实用的加权函数选择方法和一种控制器降阶方法。采用MATLAB鲁棒控制工具箱进行仿真实验,结果表明系统在受扰情况下,具有良好的鲁棒稳定性和跟踪性能。
The controllers are designed based on the mixed-sensitivity H∞ robust control theory. A practical selection of weighting function and the order reduction of the controller are presented. By using the robust control toolbox of MATLAB the H∞ controller is then designed. Simulations show that the controller designed can improve the robustness, stability and the track performance, even if the disturbance exists in the system.
出处
《江苏科技大学学报(自然科学版)》
CAS
北大核心
2007年第4期50-53,共4页
Journal of Jiangsu University of Science and Technology:Natural Science Edition
基金
国家自然科学基金资助项目(60575051)
江苏省高校自然科学基金资助项目(03KJB120005)