全向移动足球机器人的鲁棒方差控制  

Robust Variance Control for Omni-directional Soccer Robot

作　　者：李永新[1] 汪义平[1] 许旻[1] 杨杰[1] 

机构地区：[1]中国科学技术大学精密机械与精密仪器系,安徽合肥230027

出　　处：《控制工程》2008年第6期707-710,739,共5页Control Engineering of China

摘　　要：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。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 optimzation problems are solved using Matlab, and a robust controller is obtained. The simulation result shows the efficiency of the method.

关 键 词：线性矩阵不等式 参数不确定性 闭环区域极点约束 方差约束 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]