时变不定机器人控制系统的鲁棒镇定

详细信息

ROBUST STABILIZATION OF TIME-VARYING UNCERTAIN ROBOT CONTROL SYSTEMS

摘要: 本文讨论了含有时变参量或扰动的机器人系统的鲁棒稳定化问题．给出了该类不确定的机器人系统可鲁棒稳定化的充分条件，并且构造了一个静态可稳化鲁棒控制器．
- 不确定机器人控制系统 /
- 鲁棒镇定 /
- 反馈线性化
Abstract: In this paper we discuss the problem of robust stabilization for the time-varying uncertain robot control systems, present the robust stabilization sufficient condition for the systems and construct astatic state feedback stabilizing controller.
- Uncertain robot control systems /
- robust stabilization /
- feedback linearization

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