基于观测器的机械手伺服系统非脆弱H_(∞)控制  

Non-fragile H Control for Robot Manipulators Servo System Based on Observer

作　　者：付兴建[1] 黄英华[1] FU Xingjian;HUANG Yinghua(School of Automation,Beijing Information Science&Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学自动化学院,北京100192

出　　处：《机床与液压》2021年第13期41-44,134,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金面上项目(61973041);北京信息科技大学促进高校内涵发展科研水平提高项目(5211910950)。

摘　　要：针对一类不确定时滞系统,考虑系统状态的不确定性和控制器的脆弱性,在系统的状态不能直接测量得到的情况下,设计基于状态观测器的不确定时滞系统的鲁棒非脆弱H_(∞)控制器。将其应用于机械手伺服系统轨迹跟踪控制仿真,通过对机械手角度、角速度等状态信息的观测跟踪,验证了状态观测器的有效性和鲁棒非脆弱H_(∞)控制的可行性。For a class of uncertain time-delay system,the uncertainty of the system states and the fragile of the controller were considered,a robust non-fragile H_(∞) controller for uncertain time-delay systems based on state observer was designed in the case that the system states could not be obtained directly.The controller was applied to the trajectory tracking control simulation for the robot manipulator servo system.By observing and tracking the state information of robot manipulators,such as robot manipulators angle and angular speed,the effectiveness of the state observer and the feasibility of robust non-fragile H_(∞) control were verified.

关 键 词：观测器 非脆弱控制 鲁棒H_(∞)控制 机械手伺服系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]