机器人的鲁棒控制

主要研究了机器人系统的鲁棒控制。介绍了机器人的鲁棒控制模型后，利用最优控制问题求解鲁棒控制，这种方法降低的构造Liapunov函数的难度。只需要求解一个代数的黎卡提方程，便可得到最优控制器，而且证明了这个最优控制器也是鲁棒控制器。但又由于基于这种方法得到的控制器较复杂而难以实现，而且能得到渐近稳定的定性结果，而不能得到其平衡点的衰减速率以及平衡点的吸引域的估计。因此在本文的第三部分中应用了算子非线性测废理论。基于非线性测度方法求解的鲁棒控制器，不仅简单易求，而且克服了压缩映像原理估计压缩常数的困难，在得到系统渐近稳定性的同时得到了系统平衡点的衰减速度和吸引域的估计。最后给出了两关节机器人鲁棒控制的的实例。由于控制器设计与f（X）无关，相关结果会比较保守，可为相关设计研究提供一些参考。

The Robust Control of Robotic System

this paper, the robust control of robotic system is studied. After the robust control model is introduced, the robust control is studied by the method of optimal control. This method release the difficulty of the construction of Liapunov function, and only by solving a Riccati equation, the optimal control, also the robust control is obtained. The robust control based on this method is complicated and difficult to design, and the decay rate and the estimate of the attraction reglon can not be described by this method. Therefore, in the third chapter the nonlinear measure is applied. The robust control based on the nonlinear measure is not only simple to determine, but also overcome the difficulty the es- timation of the contraction constant and the construction ＇of Liapunov function, and furthermore, the decay rate and the estimation of the attraction region is also derived. At last the robust control of an two joints robot is studied as an example. Because of the controller design has nothing to do with f （x） .relevant results will be more conservative. The results may orovide a reference and aoolication for some research.