超稳定性方法及其在机器人控制中的应用

辛毅, 程勉, 高为炳. 超稳定性方法及其在机器人控制中的应用[J]. 机器人, 1988, 10(2): 26-28,45.

引用本文:

辛毅, 程勉, 高为炳. 超稳定性方法及其在机器人控制中的应用[J]. 机器人, 1988, 10(2): 26-28,45.

XIN Yi, CHEN Mian, GAO Weibing. Hyperstability Method and Its Application in Industrial Robots[J]. ROBOT, 1988, 10(2): 26-28,45.

Citation:

XIN Yi, CHEN Mian, GAO Weibing. Hyperstability Method and Its Application in Industrial Robots[J]. ROBOT, 1988, 10(2): 26-28,45.

Hyperstability Method and Its Application in Industrial Robots

摘要: 本文用超稳定性方法研究了一类以工业机器人为背景的模型參考自适应控制问题，克服了过去用超稳定性方法设计不能保证渐近稳定的缺点，并把该方法应用到工业机器人控制中．

Abstract: Model Reference Adaptive Control,or MRAC,of a class of systems based on thecontrol of industrial robots is studied by hyperstability method.This paper avoidsthe drawback of the previous hyperstability method which can not assure asymptoticstability.The method is used to control industrial robots rather well.

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