执行器饱和受限系统的鲁棒控制及其在网络遥操作机器人系统中的应用  

Robust Control of Actuator Saturation Constrained Systems and Its Application in Network Teleoperation Robot Systems

作　　者：姚合军[1] 杨恒 YAO Hejun;YANG Heng(School of Mathematics and Statistics,Anyang Normal University,Anyang 455000,China)

机构地区：[1]安阳师范学院数学与统计学院,河南安阳455000

出　　处：《安阳师范学院学报》2020年第2期1-5,共5页Journal of Anyang Normal University

基　　金：河南省科技攻关项目(项目编号202102210128);河南省高等学校青年骨干教师培养计划(项目编号2019GGJS192);国家级大学生创新创业训练计划项目(项目编号201910479021)。

摘　　要：研究了执行器饱和受限系统的鲁棒控制问题。通过提高系统状态维数的方法,借助恰当的矩阵不等式变换把执行器饱和项转化为闭环系统状态。利用线性矩阵不等式方法得到系统稳定的充分条件和控制器设计策略。通过选取带有参数矩阵的Lyapunov函数,降低了稳定性条件的保守性。最后,把所得的研究结果应用到网络遥操作机器人系统,充分验证了该方法的有效性与可行性。The problem of robust control for actuator saturation constrained systems is studied.By improving the dimension of the systems state,the saturation term of actuator is transformed into the closed-loop systems state by means of proper matrix inequality transformation.The sufficient conditions of the systems stability and the controller design strategy are obtained by using the linear matrix inequality method.By selecting Lyapunov function with parameter matrix,the conservatism of the stability condition is reduced.Finally,the research results are applied to the network teleoperation robot systems to verify the effectiveness and feasibility of the method.

关 键 词：执行器饱和 不确定 网络系统 机器人系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]