Robust Dissipative Control Of Uncertain Robot

The essential content of dissipative systems theory can be mentioned as there is a positive storage function,which guarantees the energy dissipated inside a dynamic system less than the energy supplied from external source. In fact, Lyapunov stable theorems can also be expressed by dissipative theory. By employing dissipative theory, the inherent characters of controlled physical systems may be virtually used to construct a suitable Lyapunov function. Its applications must be far and wide. Based on dissipative theory, this thesis works over uncertain robot systems control and can be divided into two main parts, i.e. passivity robust control and robust control. Passivity systems theory primarily analyzes stability of nonlinear systems under suitable observability or detectability conditions. The stable result is obtained from the stable character of passivity systems. The thesis introduces robust KYP lemma to control robot systems and singles the calculating process. By employ input/output feedback linearization approach and passivity theory at the same time, a strong robust, high accuracy controller is obtained. Furthermore, the differential geometric theory was applied to robot control and a controller which based on the bounded of uncertainties and a stable zero dynamic subsystem is constructed. control is based on the principle of restraining disturbance. Insure the systems' stable, and make disturbance have a demanded lowest influence to outputs. The difficulty in controlling nonlinear systems using method is lie in calculating HJI equation. To deal with this problem, the thesis provides three schemes. In the first scheme, Backstepping method and control theory are combined; the other two are introduced based on passivity condition of nominal systems and the different conditions of uncertainties. All the three controllers have avoided calculating HJI equation.