H基于网络控制系统的陶瓷机械臂无限鲁棒控制

2011 Fourth International Conference on Intelligent Computation Technology and Automation Pub Date : 2011-03-28 DOI:10.1109/ICICTA.2011.119

Dong Wang, Yonghong Zhu

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引用次数: 0

摘要

研究了具有扰动的2自由度陶瓷机械臂网络控制系统的状态反馈控制问题。首先建立了陶瓷机械臂的网络鲁棒控制模型。然后，给出了陶瓷机械臂网络控制系统在最大网络时延条件下鲁棒稳定性的充分条件。此外，利用线性矩阵不等式方法提出了状态反馈控制律。最后进行了仿真。仿真结果表明，所提出的网络化鲁棒控制策略能够有效地衰减基于网络化控制系统的陶瓷机械臂的微扰。并使闭环系统稳定。

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H Infinite Robust Control for Ceramic Manipulators Based on Networked Control Systems

The state feedback control problem for networked control systems of 2-DOF ceramic manipulators with disturbances was studied. At first, a networked robust control model of ceramic manipulators is made. Then, sufficient conditions of robust stability is given for networked control systems of ceramic manipulators under the maximum network time-delay condition. In addition, the state feedback control law were proposed by using the linear matrix inequality method. In the end, a simulation is given. Simulation results show that the networked robust control strategy proposed can effectively attenuate perturbations of ceramic manipulators based on networked control systems. and render the closed loop system stable.

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2011 Fourth International Conference on Intelligent Computation Technology and Automation

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