基于LMI方法的机器人LPV鲁棒H_∞控制器设计

Robot Manipulator LPV Robust H_∞ Controller Design Based on LMI Approach

对平面两关节直接驱动机器人 ,提出一种同时将闭环极点配置到满足动态响应区域内的变增益 L PV鲁棒 H∞ 控制器设计新方法。利用 L PV的凸分解方法 ,将机器人模型化为具有凸多面体结构的L PV模型 ,然后利用 L MI技术对凸多面体各顶点分别设计满足 H∞ 性能和闭环极点配置的反馈增益 ,再利用各顶点设计的反馈控制器综合得到具有凸多面体结构的 L PV控制器。仿真结果验证了该控制器可使机器人随关节位置变化始终具有良好的控制性能。

A new approach to design robust H∞ controllers for a two-joint direct drive planar manipulator is presented. The time-varying nonlinear model of robot is translated into a linear parameter varying ( LPV) system with convex polytopic version via the LPV convex decomposition technique. State feedback controllers satisfying H∞ performance and pole placement at every vertex of convex polyhedron parameter space are designed via linear matrix inequalities (LMIs) approach. Using these designed controllers at every vertex, a LPV controller with smaller on-line calculating capacity is synthesized via convex decomposition techniques. Simulation results prove that the robot with the LPV controller has good performance as the joint angles vary.