文档介绍：文章编号:
力矩受限的机器人吸引域估计方法

彭文东,苏剑波
(上海交通大学自动化系上海 200240)

摘要:针对力矩受限的机器人组合非线性反馈控制的局部稳定区域描述问题,
用不变集属性和椭球性质,定义两种不同意义的最大椭球不变集来逼近吸引域,分别采用设置初始状态法和参考
形状集法求解. 通过带有约束的优化问题描述,所有条件均能转化为线性矩阵不等式条件,
优化技术,能够减小吸引域估计的保守性,数值算例验证了所提方法的有效性.
关键词:机器人;有界力矩;组合非线性反馈;吸引域;线性矩阵不等式
中图分类号:TP24 文献标识码:A
Estimation Methods of Domain of Attraction for Robot with
Bounded Torques
PENG Wen-dong,SU Jian-bo
(Department of Automation, Shanghai Jiaotong University, Shanghai 200240, China. Correspondent: PENG Wen-
dong, E-mail: pengwendong ***@sjtu.)
Abstract:To formulate the problem concerned with local stable region description posite nonlinear feedback
control for robot manipulators with bounded torques, the estimation methods of domain of attraction are studied.
Utilizing the properties of set invariance and ellipsoid, two different maximum ellipsoid invariant sets are defined as the
estimation of domain of attraction, so the methods of setting initial state and reference shape set are introduced. Through
the description for the constrained optimization problem, all conditions can be expressed in LMI conditions and
conveniently solved. Owing to the utilization of optimization technique, both methods can reduce the conservatism of
estimation. Simulation examples testify the effectiveness of the suggested methods.
Key words: Robot;Bounded