Abstract
The aim of this paper is to give an effective H∞ control way and precise numerical method for a single-axis mechanical arm system in Hamilton system. The dynamic equation of a flexible mechanical arm with single-axis is established. The H∞ control way of disturbance attenuation in control theory is used for the control problem. In the process of numerical simulation, the traditional differential methods are abandoned. Rather, the H∞ control problem is computed with the help of established time precise integration algorithm in linear dynamic system, in which the state equation and Riccati equation are solved successfully. A numerical example is given, showing the effectiveness of the present method.
| Original language | English |
|---|---|
| Pages (from-to) | 220-223 |
| Number of pages | 4 |
| Journal | Gongcheng Lixue/Engineering Mechanics |
| Volume | 22 |
| Issue number | 3 |
| State | Published - Jun 2005 |
Keywords
- H control
- Mechanical arm
- Precise integration method
- Riccati equation
- Substructure condensation