基于LMI全方位移动机器人H_∞鲁棒控制

针对机器人控制领域中一类多输入多输出(MIMO)高阶线性时不变系统,根据模型自身的结构特点,给出了基于线性矩阵不等式(LMI)的通过局部反馈H∞控制实现整个系统对不确定扰动具有鲁棒性的充分条件及相关推论,并在此基础上提出了一种解决该类型系统H∞控制问题的新算法。通过对一完整约束移动机器人系统的局部输出反馈H∞控制仿真,说明了此算法具有良好的控制效果和实用性。

A class of MIMO high-order LTI system in robot control field is discussed.According to the composition of the mathematics model,sufficient conditions and related deductions are proposed to realize the robust quality of the whole system to unconfirmed interference by local feedback H_∞ control based on LMI.A new algorithm to solve H_∞ control problem for this kind of system is also presented.Then this algorithm is applied to a wheeled mobile robot with holonomic constraints.The simulation results show the efficiency of the method.

清华大学智能技术与系统国家重点实验室资助项目(0101);;中国科学院沈阳自动化研究所机器人学研究室资助项目(RL200110)