机器人的鲁棒控制

In this paper, the robust control of robotic system is studied. In the first chapter the robust control model is introduced. In the second chapter, 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 region 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 estimation 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. In the fourth chapter the robust control of an two joints robot is studied as an example.