【摘要】 提出一种基于线性矩阵不等式 (LMI)的机器人系统分散鲁棒控制方法。首先以PUMA56 2机器人第四、五关节为被控对象 ,分别以其位置和速度为状态变量 ,建立状态空间模型 ,然后应用分散H∞ 控制的迭代LMI方法进行机器人系统的分散鲁棒控制器设计。仿真和实际结果表明本文提出的方法是非常有效的。更多还原

【Abstract】 A decentralized robust control method based on linear matrix inequality(LMI)for robot systems was proposed. A state space model is first established using the positions and speeds as the state variables for the 4th and 5th joints of PUMA562 robot. Then, an iterative LMI approach for decentralized H ∞ control is used to design a robust controller for the robot system. The simulation and practical results proved the validity of the proposed method.更多还原