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基于改进PID的机器人机械臂控制器设计 被引量:1
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作者 黄烨东 吴晨曦 《机械设计与制造工程》 2023年第7期45-50,共6页
为实现更加精确的机器人机械臂操控,将现代控制理论和机械臂空间路径规划相结合对机械臂进行控制。首先构建了针对机械手臂关节变化的非线性定位方程,通过传统数值计算方法对运动方程进行求解,结果并不理想,误差不能够及时校正,容易产... 为实现更加精确的机器人机械臂操控,将现代控制理论和机械臂空间路径规划相结合对机械臂进行控制。首先构建了针对机械手臂关节变化的非线性定位方程,通过传统数值计算方法对运动方程进行求解,结果并不理想,误差不能够及时校正,容易产生误差累积问题,为此利用李雅普诺夫非线性大范围渐近稳定原理对定位方程进行求解。然后将脉宽调制(PWM)控制与自整定模糊PID控制相结合对机械臂进行控制。通过实验分析得知,算法的平均响应时间为1.014 s,定位准确率为94.57%,能够快速、精确实现机械臂的移动控制。 展开更多
关键词 比例-积分-微分控制 模糊理论 机械臂 李雅普诺夫 渐近稳定原理
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机械臂非线性定位方程计算新方法 被引量:1
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作者 丁大民 邓琛 +1 位作者 张琴舜 王朝斌 《轻工机械》 CAS 2014年第6期66-69,共4页
针对机械臂定位算法中,数值算法计算量大,仿真过程存在累积误差,几何算法通用性不强等问题,以手术机器人六自由度机械臂为研究对象,建立了一组多关节机械臂非线性定位方程组,提出了其基于非线性大范围渐近稳定的求解方法。结果表明该方... 针对机械臂定位算法中,数值算法计算量大,仿真过程存在累积误差,几何算法通用性不强等问题,以手术机器人六自由度机械臂为研究对象,建立了一组多关节机械臂非线性定位方程组,提出了其基于非线性大范围渐近稳定的求解方法。结果表明该方法既简化运算,又有利于物理实现,为机械臂高速、准确运动提供了基础,实验表明该算法适用多关节的移动机械臂的非线性定位方程的求解,有较高的求解精度和收敛速度。 展开更多
关键词 机械臂 非线性方程 定位 李雅普诺夫大范围渐近稳定原理
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Note on a diffusive ratio-dependent predator-prey model
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作者 陈滨 许志奋 《Journal of Southeast University(English Edition)》 EI CAS 2006年第2期294-296,共3页
Subject to the homogeneous Neumann boundary condition, a ratio-dependent predator-prey reaction diffusion model is discussed. An improved result for the model is derived, that is, the unique positive constant steady s... Subject to the homogeneous Neumann boundary condition, a ratio-dependent predator-prey reaction diffusion model is discussed. An improved result for the model is derived, that is, the unique positive constant steady state is the global stability. This is done using the comparison principle and establishing iteration schemes involving positive solutions supremum and infimum. The result indicates that the two species will ultimately distribute homogeneously in space. In fact, the comparison argument and iteration technique to be used in this paper can be applied to some other models. This method deals with the not-existence of a non-constant positive steady state for some reaction diffusion systems, which is rather simple but sufficiently effective. 展开更多
关键词 ratio-dependent predator-prey model global stability comparison principle ITERATION
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Global properties of nonlinear humoral immunity viral infection models 被引量:4
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作者 A. M. Elaiw H. A1Shamrani' 《International Journal of Biomathematics》 2015年第5期53-105,共53页
In this paper, we consider two nonlinear models for viral infection with humoraL immu- nity. The first model contains four compartments; uninfected target cells, actively infected cells, free virus particles and B cel... In this paper, we consider two nonlinear models for viral infection with humoraL immu- nity. The first model contains four compartments; uninfected target cells, actively infected cells, free virus particles and B cells. The second model is a modification of the first one by including the latently infected cells. The incidence rate, removal rate of infected cells, production rate of viruses and the latent-to-active conversion rate are given by more general nonlinear functions. We have established a set of conditions on these general functions and determined two threshold parameters for each model which are sufficient to determine the global dynamics of the models. The global asymptotic stability of all equilibria of the models has been proven by using Lyapunov theory and applying LaSalle's invariance principle. We have performed some numerical simulations for the models with specific forms of the general functions. We have shown that, the numerical results are consistent with the theoretical results. 展开更多
关键词 Viral infection global stability humoral immune response Lyapunov func-tion.
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STABILITY OF DISCONTINUOUS NONLINEAR SINGULAR SYSTEMS
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作者 WEI Jumei MU Xiaowu 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2013年第4期527-533,共7页
This paper studies a class of nonlinear singular systems with discontinuous right-hand sides,it develops nonsmooth Lyapunov stability theory as well as LaSalle invariance principle.In this paper,LaSalle invariance pri... This paper studies a class of nonlinear singular systems with discontinuous right-hand sides,it develops nonsmooth Lyapunov stability theory as well as LaSalle invariance principle.In this paper,LaSalle invariance principle of the discontinuous nonlinear singular systems is presented firstly.Furthermore,some sufficient conditions for stability and asymptotic stability of the given systems based on Filippov differential inclusion and Clarke's generalized gradient are given.Finally,these results are illustrated by the given example. 展开更多
关键词 DISCONTINUOUS invariance principle nonlinear singular systems stability.
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Qualitative analysis of a chemostat model with inhibitory exponential substrate uptake and a time delay
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作者 Qinglai Dong Wanbiao Ma 《International Journal of Biomathematics》 2014年第4期185-200,共16页
In this paper, we consider a simple chemostat model with inhibitory exponential sub- strate uptake and a time delay. A detailed qualitative analysis about existence and boundedness of its solutions and the local asymp... In this paper, we consider a simple chemostat model with inhibitory exponential sub- strate uptake and a time delay. A detailed qualitative analysis about existence and boundedness of its solutions and the local asymptotic stability of its equilibria are car- ried out. Using Lyapunov-LaSalle invariance principle, we show that the washout equi- librium is global asymptotic stability for any time delay. Using the fluctuation lemma, the sufficient condition of the global asymptotic stability of the positive equilibrium E+ is obtained. Numerical simulations are also performed to illustrate the results. 展开更多
关键词 CHEMOSTAT time delay stability Lyapunov LaSalle invariance principle.
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