机器人非线性连续变增益H∞控制器设计

本文针对n关节的刚性机器人，提出了一种设计连续变增益控制器的新方法．这种方法结合了变增益和H∞理论，通过在平衡点附近线性化系统，利用具有极点配置的状态反馈H∞技术，对应每个运动区域，设计满足H∞性能和动态特性的状态反馈增益，这些增益通过泰勒级数展开拟合成与运动点有关的连续函数．随着系统状态的变化，拟合成的增益函数可使控制器获得连续的增益，使得所设计的控制器同样适合系统状态变化较快的对象，而且系统随状态的变化始终具有很高的动态性能，克服了传统变增益控制器中存在的不足．仿真结果验证了此控制器的有效性．

DESIGN OF CONTINUOUS GAINSCHEDULED H

A new approach to designing continuous gain scheduled H∞ controllers for n-joint rigid robot manipulator has been presented in this paper. The approach combines gain scheduling theory with H∞ theory. By linearizing the system at equilibrium points and utilizing state feedback H∞ technique with poles placement, we design state feedback gain satisfying H∞ performance and dynamic qualities at every operated regions. The gains are fitted to continuous functions of the states of the system using taylor series expansion. With changes of the states of the system, the controller can get continuous gains using the fitted gain functions. Not only the designed controller can be applied to the plants with fast varying states, but also the system possesses always a good dynamic performance. The presented approach overcomes limitations of the conventional gain scheduling control. Simulation results prove the effectiveness of the designed controller.