Aiming at the impact of parameter perturbation for robot system stability and tracking performance, an approach to design robust controller for robot on theory of robust reliability on the basis of previous research was presented. First,the influence between robot and un-certain parameters was analyzed and nonlinear parameters was dealt with equivalently. Then,state feedback control controller was developed on robust reliability and LMIs of its functions. Finally,new controller was inserted in system to simulation and data comparison,so that con-trol effect and performance changes before and after optimization were verified. The results indicate that this approach could improve system performance with a certain degree of reliability, as well as limite parameter perturbation to reasonable interval, so that certain trajectory is traced accurately.%针对不确定参数摄动对机器人系统稳定性和跟踪特性的影响问题,在前人的基础上提出了一种利用鲁棒可靠性的理论来设计机器人鲁棒镇定控制器的方法.首先分析了不确定参数摄动对机器人的影响,并对机器人动力学模型中的非线性不确定参数进行了等效处理;然后利用鲁棒可靠度及其功能函数的LMIs设计了状态反馈控制器;最后将控制器接入仿真模型进行了仿真实验和数值对比,验证了优化前后系统的控制效果和性能变化.研究结果表明:该方法能够以一定的可靠度改善系统的控制性能,并将不确定参数的摄动范围限制在合理区间内,保证了系统对已知轨迹的精确跟踪.
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