两轮自平衡机器人系统非脆弱控制器设计

Design of two-wheeled self-balanced robot non-fragile controller

以两轮自平衡机器人系统为研究对象,提出了一种基于线性矩阵不等式(linear matrix inequality,LMI)技术的非脆弱控制器设计方法。通过有效的矩阵不等式变换技术,利用Lyapunov函数方法,将基于观测器的控制器存在条件以矩阵不等式的形式给出。不同于已有的控制器设计方法,充分考虑了控制器存在的不确定项扰动,即非脆弱问题。所设计的控制器在存在不确定摄动的情况下,仍能保证系统的稳定性。最后,通过MATLAB软件对本文提出方法的有效性进行仿真验证。

According to the system of two-wheeled self-balanced robot,a non-fragile controller is designed via linear matrix inequality（LMI）method in this thesis.Then,by using matrix inequality converter technique and Lyapunov function method,the sufficient condition of controller that based on observer is obtained via linear matrix inequality（LMI）method.Comparing with the existing research method of controller,the problem of non-fragile that controller has uncertainties are consider in this paper.The designed controller can meet the system stability with the uncertain perturbation.Finally,the MATLAB simulation experiment shows the validity of the proposed method.