基于无物理方向性机器人的随机奇异系统耗散控制  

The Dissipative Control for Stochastic Singular System Based on Non-direction Robot

作　　者：孟庆生[1] 鲁仁全[2] 罗红飞[1] 

机构地区：[1]浙江商业职业技术学院,杭州310053 [2]杭州电子科技大学自动化学院,杭州310018

出　　处：《科技通报》2010年第5期763-768,共6页Bulletin of Science and Technology

基　　金：国家高技术研究计划863项目(编号2007AA04Z165)

摘　　要：研究了基于一种新型的无物理方向性机器人动力学随机奇异系统的耗散控制问题。首次提出了无物理方向性的概念,分析了机器人无物理方向性的运动原理,并在此基础上,建立起机器人系统的运动学和动力学模型。为了确保其运行的安全可靠,必须考虑随机因素的影响,文中研究了机器人动力学随机奇异系统的耗散控制问题,基于Lyapunov-Krasovskii函数方法,设计线性状态反馈控制器使无物理方向性机器人动力学闭环控制系统是均方稳定并且满足严格的(Q,S,R)耗散性能,控制器可解的充分条件通过线性矩阵不等式即(LMI)给出,最后通过一个数值例子仿真证明了我们所提出设计方法的有效性。This paper deals with the problem of the dissipative control for stochastic singular system based on non-direction robot. The conception ＇non-direction ＇is firstly proposed and then the principle of the non-direction robot motion is analyzed, the models of kinematic and dynamics of non-direction robot system are built base on them. Stochastic factor should be considered to ensure the safety and reliability of the system, the problem of the dissipative control for stochastic singular system based on non-direction robot is concerned in this paper,and the linear state feedback controller is designed based on Lyapunov-Krasovskii function approach such that the dynamic closed-loop system of the non-direction robot is mean-square asymptotically stable and strictly （Q, s, R）-dissipative, sufficient conditions for the solvability of the controller are obtained in terms of LMI. Finally, an illustrative example is provided to demonstrate the effectiveness of the proposed approach.

关 键 词：控制理论与控制工程 机器人 无物理方向性 随机奇异系统 耗散控制 线性矩阵不等式 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]