Stable robust control method of mechanical arm system under finite frequency domain disturbance

• Main Authors: ZHU SHIRUI, SUN WEI, ZHU MENGYU, LI QIYUE, LI WEITAO
• Format: Patent
• Language: Chinese; English
• Published: 31.05.2022
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

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