基于线性矩阵不等式的Acrobot鲁棒镇定控制

摘要

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.%针对欠驱动机器人 Acrobot,提出一种基于线性矩阵不等式的鲁棒镇定控制方法。通过将 Ac-robot在垂直向上不稳定平衡点附近的第一杆角速度看作一种不确定性,得到 Acrobot 的不确定模型,在此基础上设计一种基于线性矩阵不等式的鲁棒镇定状态反馈控制律,实现 Acrobot较大范围的平衡控制。仿真和对比结果验证了方法的有效性和优越性。