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Huston矩阵形式的多体系统动力学描述兼有力法和能量法的特点 ,可直接应用 Lyapunov稳定性理论对其描述的系统进行分析。Huston方法较之 Lagrange能量方法的分析过程简单 ,无需求混合偏导数 ,有形式简单、直观、规范的特点。实验证明这种分析方法的正确性和这种控制方法的有效性
Huston matrix form of multi-body system dynamics described by both the force method and the energy method can directly apply Lyapunov stability theory to describe the system it analyzes. The Huston method is simpler than the Lagrange method and does not require mixing of partial derivatives. It is simple, intuitive and normative. Experiments prove the correctness of this method and the effectiveness of this control method