Given an integral M-currrent To in Rm+k and a tensor H of type(m.l)on Rn+k with values orthogonal to each of its arguments we proved in a previous peper[3]the sxistence of anintegral m-current T =γ(M,θ.ζ)with bound...Given an integral M-currrent To in Rm+k and a tensor H of type(m.l)on Rn+k with values orthogonal to each of its arguments we proved in a previous peper[3]the sxistence of anintegral m-current T =γ(M,θ.ζ)with boundary T0 and mean curvature vector H by minimizing an appropriate functional on suitable subclasses of the set of all integral currents.In thes paperwe discuss the existence and structure of oriented tangent cones C of T at points x∈spt(T) spt(T),especially we show that C is locally mass minimizing.展开更多
This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the...This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the most important sources of uncertainties. In order to achieve high performance, all parts of the manipulator including actuator have been modeled. To cancel the tracking error, a hysteresis current controller and speed controllers have been developed. To evaluate the effectiveness of speed controllers, a comparative study between proportional integral(PI) and sliding mode controllers has been performed. Finally, simulation results carried out in the Matlab simulink environment demonstrate the high precision of sliding mode controller compared with PI controller in the presence of uncertainties of joint flexibility.展开更多
文摘Given an integral M-currrent To in Rm+k and a tensor H of type(m.l)on Rn+k with values orthogonal to each of its arguments we proved in a previous peper[3]the sxistence of anintegral m-current T =γ(M,θ.ζ)with boundary T0 and mean curvature vector H by minimizing an appropriate functional on suitable subclasses of the set of all integral currents.In thes paperwe discuss the existence and structure of oriented tangent cones C of T at points x∈spt(T) spt(T),especially we show that C is locally mass minimizing.
文摘This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the most important sources of uncertainties. In order to achieve high performance, all parts of the manipulator including actuator have been modeled. To cancel the tracking error, a hysteresis current controller and speed controllers have been developed. To evaluate the effectiveness of speed controllers, a comparative study between proportional integral(PI) and sliding mode controllers has been performed. Finally, simulation results carried out in the Matlab simulink environment demonstrate the high precision of sliding mode controller compared with PI controller in the presence of uncertainties of joint flexibility.
