Robust stabilization control for robot with robust reliability
                                                                                ZHANG Yi chen
              (Institute of Mechanical Engineering，Shanghai University of Science and Technology, Shanghai 200093, China)

Abstract: 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 uncertain 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 control 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.

Key words: robust reliability; robot; robust stabilization control; parameter perturbation; state feedback