中国机械工程 ›› 2010, Vol. 21 ›› Issue (11): 1319-1324.

• 机械基础工程 • 上一篇    下一篇

基于T-S模型的欠驱动机器人非脆弱保性能H∞控制

吴忠强;刘力灵
  

  1. 燕山大学河北省工业计算机控制工程重点实验室,秦皇岛, 066004
  • 出版日期:2010-06-11 发布日期:2010-06-23

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

Wu Zhongqiang;Liu Liling
  

  1. Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao,Hebei, 066004
  • Online:2010-06-11 Published:2010-06-23

摘要:

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。

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Abstract:

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.

Key words: underactuated robot, T-S model, non-fragile guaranteed cost control, H control

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