关键词: 外骨骼机器人手指, 鲁棒控制, μ综合, 采样延时

Abstract:

This paper proposes a design method of the μ-synthesis robust controller for the exoskeleton robot finger based on its dynamic model. In the investigation, first, the uncertainty of the system model is analyzed, and the load dynamics is presented as a feedback uncertainty model to establish a proper nominal model of the controlled object. Then, based on the high-speed digital signal processor （DSP）, the robust digital controller is implemented, with the calculation delay of the robot system being considered in the design and implementation process. Finally, some experiments have been performed to evaluate the effect of sampling delay on the robustness of the controller. The results indicate that the proposed μ-controller effectively reduces the influences of disturbance and model uncertainty on the robot system and that it possesses good robust stability and robustness.

Key words: exoskeleton robot finger, robust control, μ-synthesis, sampling delay