Stable robust control method of mechanical arm system under finite frequency domain disturbance
The invention discloses a stability robust control method for a mechanical arm under finite frequency domain disturbance, and the method comprises the steps: building a continuous-time mechanical arm system model according to the conditions that a mechanical arm system jumps in different working lin...
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Main Authors | , , , , |
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Format | Patent |
Language | Chinese English |
Published |
31.05.2022
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Subjects | |
Online Access | Get full text |
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Summary: | The invention discloses a stability robust control method for a mechanical arm under finite frequency domain disturbance, and the method comprises the steps: building a continuous-time mechanical arm system model according to the conditions that a mechanical arm system jumps in different working links, the load mass changes, and the mechanical arm system is subjected to external disturbance, constructing a Lyapunov function, and carrying out the optimization of the Lyapunov function; sufficient conditions of random stability and existence of a robust controller of the mechanical arm system under finite frequency domain disturbance are obtained; and finally, calculating a controller gain matrix Ki corresponding to system stability by continuously reducing a disturbance suppression ratio gamma in a stability condition, and when the disturbance suppression ratio gamma is minimum and the system is stable, obtaining an optimal controller gain matrix Ki *. According to the method, the robustness of the control syst |
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Bibliography: | Application Number: CN202210307185 |