基于T-S模型的欠驱动机器人非脆弱保性能H_∞控制  

Non-fragile Guaranteed Cost H_∞ Control of Underactuated Robots Based on T-S Model

作　　者：吴忠强[1] 刘力灵[1] 

机构地区：[1]燕山大学河北省工业计算机控制工程重点实验室,秦皇岛066004

出　　处：《中国机械工程》2010年第11期1319-1324,共6页China Mechanical Engineering

摘　　要：讨论了欠驱动机器人系统的非脆弱保性能H∞控制问题。利用欠驱动机器人关节间的动力学耦合控制被动关节到达理想位置,进而对其进行锁定,将欠驱动机器人系统转化为全驱动机器人系统。结合非脆弱保性能控制理论和H∞控制理论,提出了基于T-S模型的欠驱动机器人非脆弱保性能H∞控制策略,使其能够进行位置跟踪。两连杆机械臂的仿真验证了所提控制策略的有效性及实用性。The non-fragile guaranteed cost H∞ control of underactuated robots were discussed. The underactuated joints were derived to desired positions by the coupling of joints, and braked. The robot with underactuated joints braked become full-drive system. Combining with the theory of non -fragile guaranteed cost control and the theory of H∞ control, a non-fragile guaranteed cost H∞ control of underactuated robots based on T-S model was provided to make this system capable of handling position tracking. The simulation of a two-link robot shows the validity and the practicality.

关 键 词：欠驱动机器人 T—S模型 非脆弱保性能控制 H∞控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]