计算技术与自动化2016，Vol.35Issue(4)：6-10,5.
基于线性矩阵不等式的Acrobot鲁棒镇定控制
Robust Stabilization Control of Acrobot Based on Linear Matrix Inequality
摘要
Abstract
A robust stabilization control approach was proposed for an underactuated robot called acrobot based on linear matrix inequality (LMI).An uncertain model of acrobot was first obtained by treating the velocity of the first link around the upright equilibrium as an uncertainty.And then a robust stabilizing state feedback control law was designed based on LMI technique,which achieves a large balancing region.Simulation and comparison results demonstrate the effectiveness and advantages of the proposed approach.关键词
Acrobot/平衡控制/鲁棒控制/线性矩阵不等式Key words
acrobot/balancing control/robust control/LMI分类
信息技术与安全科学引用本文复制引用
潘昌忠,徐城涛,周少武..基于线性矩阵不等式的Acrobot鲁棒镇定控制[J].计算技术与自动化,2016,35(4):6-10,5.基金项目
国家自然科学基金资助科研项目(61403135,51577057,51374107) （61403135,51577057,51374107）
湖南省教育厅资助科研项目(14C0440) （14C0440）
