全向移动足球机器人的鲁棒方差控制

针对存在参数不确定性及不确定性扰动的全向移动足球机器人模型,提出具有方差约束和闭环极点约束的鲁棒控制方法。该方法对状态协方差进行最小化优化处理,使控制系统更能有效地抑制扰动的影响,同时约束系统闭环极点区域,使控制系统具有良好的动态特性,最后还对控制器的能量进行了最小化优化。基于线性矩阵不等式(LMI)方法,用Mat-lab求解器得出上述优化问题的结果,进而获得了鲁棒控制器,并通过仿真说明了该方法具有良好的控制效果。

Robust Variance Control for Omni-directional Soccer Robot

To deal with parametric uncertainties and uncertain disturbance to the omni-directional soccer robot model,a robust control method with variance constraints and bounded closed-loop poles is presented.The covariance of states is minimized to inhibit the impact of disturbance more efficient,and to achieve good dynamic characteristics.The closed-loop poles region of the system is also bounded,the then the energy cost of the controller is minimized.Based on LMI approach,these optimization problems are solved using Matlab,and a robust controller is obtained.The simulation result shows the efficiency of the method.