关键词: 自适应, 线性系统, 鲁棒性, 保性能, 机器人

Abstract: Based on the linear model of yaw control of rotor-craft flying robots with timevarying uncertainties， this paper discussed the problems in the design method of the controller for mobile robot systems and proposed the design method of an adaptive robust controller. In this method，the adaptive mechanism was introduced into the robust controller design method，and the design problem of the state feedback adaptive robust controller was transformed into an equivalent solvable problem of linear matrix inequalities so that the gain of the robust controller can be adjusted online and the stability of the closed-loop system can be guaranteed. Moreover，the method was compared with the technique of fixed-gain robust controller in the experimental simulation，which showed that the method performed better in the yaw control of flying robots.

Key words: adaptive, linear system, robust, guaranteed performance, robot