基于LM I方法的机器人L PV 鲁棒H ∞控制器设计

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LPV鲁棒H∞控制器设计新方法，利用LPV的凸分解方法，将机器人模型化为具有凸多面体结构的LPV模型，然后利用LMI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LPV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。

Robot Manipulator LPV Robust H

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