SYNTHESIS OF DIGITAL REGULATOR ROBOTIC PLATFORM BASED ON H∞-OPTIMIZATION
Consider the problem constructing digital controller states to control a robotic platform consisting of actuator with stepper motor, with low-frequency effects from the base. The problem is solved using the theory of the state space and H∞- optimization. Presented study the dynamic characteristics of a discrete input. Defined transfer functions describing the effect of armature voltage on the speed of the translational motion of the mechanism and the angular velocity of rotation of the motor shaft. An example of the synthesis of optimal control and algorithms for solving discrete Riccati equation, the coefficient matrix obtained feedbacks. The structure of the feedback control. The results of mathematical modeling and evaluating the effectiveness of the scheme electro-mechanical drive and control algorithm