基于T-S模型的欠驱动机器人非脆弱保性能H_∞控制

Non-fragile Guaranteed Cost H_∞ Control of Underactuated Robots Based on T-S Model

讨论了欠驱动机器人系统的非脆弱保性能H∞控制问题。利用欠驱动机器人关节间的动力学耦合控制被动关节到达理想位置,进而对其进行锁定,将欠驱动机器人系统转化为全驱动机器人系统。结合非脆弱保性能控制理论和H∞控制理论,提出了基于T-S模型的欠驱动机器人非脆弱保性能H∞控制策略,使其能够进行位置跟踪。两连杆机械臂的仿真验证了所提控制策略的有效性及实用性。

The non-fragile guaranteed cost H∞ control of underactuated robots were discussed. The underactuated joints were derived to desired positions by the coupling of joints, and braked. The robot with underactuated joints braked become full-drive system. Combining with the theory of non -fragile guaranteed cost control and the theory of H∞ control, a non-fragile guaranteed cost H∞ control of underactuated robots based on T-S model was provided to make this system capable of handling position tracking. The simulation of a two-link robot shows the validity and the practicality.