Research on adaptive H-Infinity tracking for inhibition fluttering of picking robot arm
Zhiyong Zhang1, Hongli Guo2, Lvwen Huang1, Xiaoting Zhang1
1College of information Engineering, Northwest A&F University, Yangling, Shaanxi, 712100, China
2College of Mechanical & Electronic Engineering,Northwest A&F University, Yangling, Shaanxi, 712100, China
This paper aim at solve issue that conventional frequency domain theory is unsuitable for MIMO system and LOG theory is unsuitable for model perturbation, we commit to the research on H-infinity stability and focus on discuss design principles of H-Infinity stability system and methods on Riccati equation or inequality solution. As for the uncertainty and external interference, we discuss two-output equation or an algebraic Riccati state feedback equation using character on Riccati equation. According to the state space theory, we derive the controller to make structural equation to meet the requirement of state feedback and observer, and then draw suboptimal solutions in the form of engineering management experience. To reduce the impact on interference to control stability by selecting the appropriate interference attenuation coefficient γ, so that its stability could be casted to meet harvest scene.