【摘要】 针对单杆柔性机械臂建模误差，控制器饱和及外界扰动的不确定性因素，提出了单杆柔性机械臂的鲁棒H_∞保性能控制方法。现有单杆柔性机械臂控制方法多是忽略了其质量对系统性能的干扰，未考虑控制器输入饱和对电机寿命的影响。因此，文章将柔性机械臂的质量作为建模不确定性，然后基于李亚普诺夫函数推导出不确定线性系统鲁棒H_∞保性能控制器存在的充分必要条件，将控制问题转换为一个线性矩阵不等式的优化问题。最终使二次性能指标上界或H_∞变化范围最小。仿真结果表明，所设计的控制器对于柔性机械臂的振动有很好的抑制效果。更多还原

【Abstract】 The design method of robust guaranteed performance for single-link flexible robotic arm is proposed to address modeling errors of single-link flexible robotic arm, controller saturation and uncertainties caused by external disturbances.Existing control methods for single-link flexible robotic arm often overlook the interference of its mass on system performance and fail to consider the impact of controller input saturation on motor lifespan.Therefore, in this paper, the mass of the flexible robotic arm is treated as modeling uncertainty.Then, based on the Lyapunov function, the sufficient and necessary conditions for the existence of a robust performance controller for uncertain linear systems are derived.The control problem is transformed into an optimization problem of a linear matrix inequality.Ultimately, it minimizes the upper bound of secondary performance index or interference suppression.Simulation results demonstrate that the controller has a significant suppression effect on the vibration of the flexible robotic arm.更多还原