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针对刚性机器人在参数摄动以及外界干扰情况下的跟踪控制问题 ,提出了一种具有混合H2 /H∞ 性能指标的自适应控制方法 ,混合 H2 /H∞ 控制的性能指标保证了系统对外界干扰在一给定的干扰衰减度下具有鲁棒稳定性的同时 ,还能使系统达到良好的动态性能 ,满足一定的 H2 的最优性能指标 .文中加入了自适应控制 ,使得系统在满足 H2 /H∞ 性能指标的同时 ,还加强了系统对参数不确定性的补偿 .仿真表明本文方法的有效性 ,特别是出现参数不确定时 ,该方法较非自适应控制方法具有更好的控制效果
Aimed at the problem of tracking control of rigid robots under perturbation of parameters and external disturbances, an adaptive control method with mixed H2 / H∞ performance indicators is proposed. The performance of hybrid H2 / H∞ control ensures that the system is sensitive to external disturbances It can make the system achieve good dynamic performance and satisfy certain H2 optimal performance index at the same time with a given stability of disturbance attenuation.Adding adaptive control to make the system meet H2 / H∞ performance index, the system is also compensated for the uncertainty of the parameters.The simulation shows that this method is more effective than the non-adaptive control method in the presence of uncertain parameters