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| Design of High Voltage Inspection Robot H∞ Robust Controller |
| Shao Yue |
| School of Electrical Engineering, Shenyang University of Technology, Shenyang 110870 |
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Abstract In response to the controllable difficulty of the inspection robot vulnerable to the harsh operating environment and all kinds of disturbance, a robots error state space mode under the condition of disturbances was deduced from the robot dynamic equations and rational design of control moment. Based on the model, a new robot robust controller and the state feedback controller of the robot were proposed according to the linear matrix inequalities (LMI) and the robust control analysis. And the existence conditions and the solving method of the controller were given. Furthermore, the simulation to the robot manipulator trajectory based on the Matlab/Simulink environment show that the proposed robust controller can satisfy the design requirements of inspection robot manipulator rapid response, tracking accuracy, system stability and anti-disturbance.
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Published: 13 January 2016
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2016, Vol. 17 
