| 引用本文: | 宋 谦 郭宝珠.负载Cartesian柔性臂非线性反馈控制[J].控制理论与应用,1995,12(6):673~680.[点击复制] |
| SONG Qian GUO Baozhu.Nonlinear Feedback Control Arms with Payload[J].Control Theory and Technology,1995,12(6):673~680.[点击复制] |
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| 负载Cartesian柔性臂非线性反馈控制 |
| Nonlinear Feedback Control Arms with Payload |
| 摘要点击 1022 全文点击 495 投稿时间：1994-07-04 |
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| DOI编号 |
| 1995,12(6):673-680 |
| 中文关键词 柔性臂 非线性反馈 强稳定 |
| 英文关键词 flexible arm nonlinear feedback strong stable |
| 基金项目 |
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| 中文摘要 |
| 本文考虑x和y方向水平运动的Cartesian机器人控制系统。对末端具有负载的单杠柔性机械臂，我们给出了一个连续的 参数模型，并提出了一类传感器和控制器并置在根部的非线性反馈控制。运用抽象Hilbert空间非线性算子半群理论，获得整个闭环系统的强渐近稳定。 |
| 英文摘要 |
| We consider the control systems of x-y Cartesian robots. The system of one-link flexible arm with payload can be described as a continuum distributed parameter model. A class nonlinear feedback control with collocated sensors / actuators is proposed. Under the abstract Hilbert space frame, a nonlinear operator semigroup approach is used to prove the strong asymptotical stability of the close-loop system. |