江汉大学学报（自然科学版）2024，Vol.52Issue(3)：62-73,12.DOI:10.16389/j.cnki.cn42-1737/n.2024.03.007
自适应鲁棒保性能控制器设计
Design of an Adaptive,Robust,Guaranteed Performance Controller
徐伟 1徐俊骁 2李强 3魏红4
作者信息
- 1. 江汉大学 工程训练中心,湖北 武汉 430056
- 2. 东北电力大学 电气工程学院,吉林 吉林 132012
- 3. 江汉大学 智能制造学院,湖北 武汉 430056
- 4. 江汉大学 系统生物学研究院,湖北 武汉 430056
- 折叠
摘要
Abstract
Based on the linear model of yaw control of rotor-craft flying robots with time-varying uncertainties,this paper discussed the problems in the design method of the controller for mobile robot systems and proposed the design method of an adaptive robust controller.In this method,the adaptive mechanism was introduced into the robust controller design method,and the design problem of the state feedback adaptive robust controller was transformed into an equivalent solvable problem of linear matrix inequalities so that the gain of the robust controller can be adjusted online and the stability of the closed-loop system can be guaranteed.Moreover,the method was compared with the technique of fixed-gain robust controller in the experimental simulation,which showed that the method performed better in the yaw control of flying robots.关键词
自适应/线性系统/鲁棒性/保性能/机器人Key words
adaptive/linear system/robust/guaranteed performance/robot分类
信息技术与安全科学引用本文复制引用
徐伟,徐俊骁,李强,魏红..自适应鲁棒保性能控制器设计[J].江汉大学学报（自然科学版）,2024,52(3):62-73,12.
