| 基于线性矩阵不等式的Acrobot鲁棒镇定控制 |
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| 引用本文： | 潘昌忠,徐城涛,周少武. 基于线性矩阵不等式的Acrobot鲁棒镇定控制[J]. 计算技术与自动化, 2016, 0(4): 6-10 |
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| 作者姓名： | 潘昌忠 徐城涛 周少武 |
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| 作者单位： | (湖南科技大学 信息与电气工程学院，湖南 湘潭411201) |
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| 摘 要： | 针对欠驱动机器人Acrobot，提出一种基于线性矩阵不等式的鲁棒镇定控制方法。通过将Acrobot在垂直向上不稳定平衡点附近的第一杆角速度看作一种不确定性，得到Acrobot的不确定模型，在此基础上设计一种基于线性矩阵不等式的鲁棒镇定状态反馈控制律，实现Acrobot较大范围的平衡控制。仿真和对比结果验证了方法的有效性和优越性。
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| 关 键 词： | Acrobot；平衡控制；鲁棒控制；线性矩阵不等式 |
Robust Stabilization Control of Acrobot Based on Linear Matrix Inequality |
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| PAN Chang-zhong,XU Cheng-tao,ZHOU Shao-wu. Robust Stabilization Control of Acrobot Based on Linear Matrix Inequality[J]. Computing Technology and Automation, 2016, 0(4): 6-10 |
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| Authors: | PAN Chang-zhong XU Cheng-tao ZHOU Shao-wu |
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| Affiliation: | (School of Information and Electrical Engineering, Hunan University of Science and Technology,Xiangtan,Hunan411201,China) |
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| Abstract: | A robust stabilization control approach was proposed for an underactuated robot called acrobot based on linear matrix inequality (LMI). An uncertain model of acrobot was first obtained by treating the velocity of the first link around the upright equilibrium as an uncertainty. And then a robust stabilizing state feedback control law was designed based on LMI technique, which achieves a large balancing region. Simulation and comparison results demonstrate the effectiveness and advantages of the proposed approach. |
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| Keywords: | acrobot balancing control robust control LMI |
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