机器人混合H_2/H_∞自适应控制

Hybrid H_2/H~∞ Adaptive Control of Robot Manipulators

针对刚性机器人在参数摄动以及外界干扰情况下的跟踪控制问题 ,提出了一种具有混合H2 /H∞ 性能指标的自适应控制方法 ,混合 H2 /H∞ 控制的性能指标保证了系统对外界干扰在一给定的干扰衰减度下具有鲁棒稳定性的同时 ,还能使系统达到良好的动态性能 ,满足一定的 H2 的最优性能指标 .文中加入了自适应控制 ,使得系统在满足 H2 /H∞ 性能指标的同时 ,还加强了系统对参数不确定性的补偿 .仿真表明本文方法的有效性 ,特别是出现参数不确定时 。

An adaptive control design with mixed H2 /H∞ tracking performance was proposed for tracking of rigid robot manipulators under parameter uncertainty and external disturbances.The mixed H2 /H∞ tracking performance ensures the robuststability thatunder a prescribed attenuation level for external dis- turbance,and the H2 optimal tracking can be achieved also.The main work here isto introduce the adaptive control,which can improve the system's performance under parameter uncertainty as well as get the H2 / H∞ tracking performance.The simulation of a two- link robot manipulator shows that it is an effective method.And the adaptive controller can get better performance than the non- adaptive one when system is under parameter uncertainty.