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基于比例微分控制器的机器人位置控制研究

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摘要 考察多关节机器人动力学方程的数学特性,采用李雅普诺夫函数方法对机器人位置控制问题进行研究,基于机器人动力学模型构造能量函数并使用不变集定理分析比例微分控制器的稳定性,通过对理论分析结果进行仿真,研究单位阶跃信号激励下控制系统的动态特性。
出处 《科学技术创新》 2019年第13期111-112,共2页 Scientific and Technological Innovation
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