基于逆系统的立方体机器人H_(∞)鲁棒控制

H_(∞) Robust Control of Cube Robot Based on Inverse System

针对立方体机器人由复杂特性引起的模型不确定性以及易受外界扰动影响的问题,提出了一种基于逆系统的立方体机器人H_(∞)自平衡鲁棒控制策略。首先,基于所搭建立方体机器人的结构和运行方式,建立了其动力学模型并进行了可逆性分析,将构建的逆系统与原系统进行串接构成立方体机器人的伪线性系统;其次,利用线性矩阵不等式设计H_(∞)鲁棒控制策略以实现立方体机器人伪线性系统的自平衡稳定控制,并证明了闭环系统的稳定性。仿真和实测实验结果证明了所设计系统的可行性和有效性。

In order to solve the problem that the mechanical model of cube robot is uncertain and susceptible to external disturbance,a self-balancing H_(∞)robust control strategy of cube robot based on inverse system was proposed.Firstly,based on the structure and operation mode of the cube robot,its dynamics model was established and its reversibility was analyzed.The pseudo linear system of the cube robot was constructed by connecting the inverse system with the original system in series.Then,A H_(∞)robust control strategy is designed using linear matrix inequality(LMI)to realize the self-balancing and stable control of the pseudo-linear system of the cube robot,and the stability of the closed-loop system is proved.Finally,the experimental results show that the designed system has good stability,anti-interference and robustness.