机器人多胞变增益输出反馈H∞控制

Polytopic gain scheduling output feedback H-infinity control for robotic manipulators

中文关键词  机器人  多胞(polytope)  变增益输出反馈H_∞控制  极点配置  LMI(线性矩阵不等式)

英文关键词  robot  polytope  gain scheduling output feedback H-infinity control  pole placement  LMI (linear matrix inequality)

中文摘要

      针对n类关节的刚性机器人,提出一种设计包含极点配置的多胞变增益输出反馈H_∞控制器的新方法.利用平衡族附近的线性化,机器人系统可化为一关于平衡族的连续线性变参数系统,通过引入滤波器得到易于设计变增益控制器的增广对象,并将其凸分解为多胞表示,基于二次D 稳定和二次H_∞性能概念,利用多胞特性将整个控制器设计转化为对胞体顶点控制器的设计,然后利用LMI方法,对多胞的各顶点分别设计满足H_∞∞性能和动态特性的输出反馈控制器,最后综合顶点控制器得到具有同

英文摘要

      A new approach to the design of a polytopic gain scheduled output feedback H-infinity controller with pole placement for n-joint rigid robotic manipulators was presented. With linearization around the equilibrium manifold, the robotic system was transformed into a continuous linear parameter-varying (LPV) system with respect to the equilibrium manifold. A filter was introduced to obtain an augmented system, which was apt to have the polytopic gain scheduled controller designed. This system was put into a polytopic expression by a convex decomposition. Based on the concepts of quadratic D-stability and quadratic H-infinity performance, the polytopic features were used to simplify the controller design to be a vertices' controller design for the polytope. An output feedback controller, which satisfied H-infinity performance and dynamic characteristics, for each vertex of the polytope was designed with a linear matrix inequality (LMI) approach. A global continuous gain scheduled controller was then obtained by a synthesis of the vertex controllers. Experiments demonstrated the feasibility and novelty of the designed controller.