基于网络控制系统的陶瓷取坯机械手的H_∞鲁棒控制  

H_∞ ROBUST CONTROL OF CERAMIC MANIPULATORS BASED ON NETWORKED CONTROL SYSTEMS

作　　者：朱永红[1] 肖纯材[1] 

机构地区：[1]景德镇陶瓷学院,景德镇333001

出　　处：《陶瓷学报》2009年第4期542-546,共5页Journal of Ceramics

摘　　要：研究了具有干扰二自由度陶瓷取坯机械手网络控制系统状态反馈控制问题。首先,提出了陶瓷取坯机械手的网络化鲁棒控制模型;进而,针对存在不确定网络时延的陶瓷取坯机械手网络控制系统,通过设定最大时延,并运用矩阵不等式方法,给出闭环系统鲁棒控制稳定的充分条件和状态反馈控制律。仿真结果表明,该鲁棒控制策略能够对网络控制陶瓷取坯机械手系统的干扰进行有效抑制。The H∞ state feedback control problem with the networked control systems of 2-DOF ceramic manipulators with disturbances was studied. At first, a networked robust control model for ceramic manipulators was developed. Then, for the use in the networked control systems of ceramic manipulators, sufficient conditions for robust stability and the state feedback control law based on the maximum network time-delay were developed using the linear matrix inequality method. Simulations show that the networked robust control strategy can effectively attenuate perturbations of the networked control systems for ceramic manipulators.

关 键 词：网络控制系统 陶瓷取坯机械手 H∞鲁棒控制 线性矩阵不等式 

分 类 号：TQ174.5[化学工程—陶瓷工业]