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谐波驱动系统的非线性输出反馈轨迹跟踪控制 被引量:1
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作者 夏斌 苏玉鑫 《信息与控制》 CSCD 北大核心 2012年第6期730-734,740,共6页
利用一类具有"小误差放大,大误差饱和"功能的非线性饱和函数,设计了非线性比例及线性微分加系统动力(NP-D+)控制算法.与传统的输出反馈控制算法相比,在忽略系统柔性影响的条件下,获得了谐波驱动系统更快的响应速度,并实现了... 利用一类具有"小误差放大,大误差饱和"功能的非线性饱和函数,设计了非线性比例及线性微分加系统动力(NP-D+)控制算法.与传统的输出反馈控制算法相比,在忽略系统柔性影响的条件下,获得了谐波驱动系统更快的响应速度,并实现了对系统运动误差的有效补偿.应用李亚普诺夫稳定性理论证明了闭环系统的半全局渐近稳定性.数值仿真结果证明了所提的NP-D+输出反馈控制算法的有效性. 展开更多
关键词 谐波驱动 输出反馈 轨迹跟踪控制 非线性控制 半全局渐近稳定性
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STABILITY OF SWITCHED POLYNOMIAL SYSTEMS 被引量:2
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作者 Zhiqiang LI Yupeng QIAO Hongsheng QI Daizhan CHENG 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2008年第3期362-377,共16页
This paper investigates the stability of (switched) polynomial systems. Using semi-tensor product of matrices, the paper develops two tools for testing the stability of a (switched) polynomial system. One is to co... This paper investigates the stability of (switched) polynomial systems. Using semi-tensor product of matrices, the paper develops two tools for testing the stability of a (switched) polynomial system. One is to convert a product of multi-variable polynomials into a canonical form, and the other is an easily verifiable sufficient condition to justify whether a multi-variable polynomial is positive definite. Using these two tools, the authors construct a polynomial function as a candidate Lyapunov function and via testing its derivative the authors provide some sufficient conditions for the global stability of polynomial systems. 展开更多
关键词 Global asymptotical stability semi-tensor product switched polynomial systems
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