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Based on the analysis of the mechanism of robot manipulators, a trajectory tracking controlling research model is first built up with ADAMS, and its mathematical model is formulated through the study of robot kinematics and dynamics. After the modeling errors are analyzed in practical robotic systems, a conception of centralized error is brought forward according to the theory of weighting functions. In the case of modeling errors' exist, the robotic uncertain model is derived by introducing an auxiliary control variable into inverse dynamic analysis. The control strategy of robust exponential convergence is applied to the robotic uncertain model, the applicable conditions and the applicable controller with this application are presented. The stable control effect under three main model uncertainties (parametric errors, joint disturbs, joint frictions) are systematically studied on the previously built research model. The problems of robust exponential convergence controller which often results in unstable output and so produces a large relative error when the input trajectory is in a small range are resolved by adjusting the control parameters based on the controller's structure.

本文在机械手的机械结构分析基础上，利用ADAMS建立了用于机械手轨线跟踪控制研究的机械手模型；通过对机器人运动学和动力学问题的研究，建立了机械手研究的数学模型；分析了机器人系统中模型误差的主要来源，根据加权函数法分析，提出了模型集中误差的概念；在存有模型误差的情况下，采用逆动力学结构并引入辅助控制量，由机器人误差模型推导了机器人非确定性模型；提出了采用鲁棒指数收敛法对上述机器人非确定性模型进行鲁棒镇定的控制策略，并给出了对机器人进行鲁棒指数收敛控制时系统不确定因素应满足的匹配条件；针对机械手研究模型，深入研究了鲁棒指数收敛控制器对机器人系统中常见的模型参数误差、关节扰动、关节摩擦等不确定因素的镇定控制效果；针对鲁棒指数收敛控制器易产生控制量振荡的问题以及在小范围内系统轨线跟踪的稳态误差过大问题，本文分别提出了基于控制器结构的控制参数调整法和基于轨线跟踪范围大小的控制参数分段切换法。

Then , aiming at characteristic of MCG data , we design the object of error analysis and make concrete analysis by error theory . We draw the conclusions that MCG signals measured by SQUID include obvious random errors and no system errors and crassitude errors .

本文根据心磁信号的测量过程，分析了测量过程中可能产生的误差，针对心磁数据的特点设计了误差分析对象，应用误差理论进行分析计算，得出了通过SQUID测得的心磁信号包含明显的随机误差，无根据怀疑存在系统误差和粗大误差的结论。

Hard disk partition table errors are serious errors, different errors will cause a different degree of loss.

分区表错误是硬盘的严重错误，不同错误的程度会造成不同的损失。

The abnormal values and pseudo-modes existed in the measured FRF can usually introduce errors into the result of structure modification, for the purpose of eliminating these errors and carrying on dynamic modification of complex structures in a large scale, the fictitious force modification method, which is based on constructed FRF, is proposed and it can restrain the influences of test errors on modification results remarkably. Furthermore, it is more convenient and precise.

实测频响函数中存在异常值或虚假模态对结构修改会产生较大的误差，为消除其影响，并进行复杂结构的动力大修改，本文还提出了基于构造频响函数的拟力修改法，这种方法能显著地抑制测试误差对修改结果的影响，且处理方便、精度高。

Hard disk partition table errors are serious errors, different errors might lead to different losses.

分区表错误是硬盘的严重错误，不同的错误程度会造成不同的损失。

Through virtual experiment to obtain large sample data respectively on errors of displacement, velocity and acceleration with regard to the executive mechanism, and there out obtained the distribution law of errors and acquired the reliability of errors.

通过虚拟实验分别获取关于执行机构位移、速度、加速度误差的大样本数据，并由此得到误差的分布规律，求取误差的可靠度。

The model of errors analysis is established by applied force and transferring law of original errors. The modal with universality can be applied to position errors analysis of plane and spatial mechanism.

该方法通过机构中作用线、运动线研究原始误差传递的规律，建立误差分析模型，概念清晰，具有一般性，适用于平面与空间多种机构的位置误差分析。

In order to ensure the consistency of the closed-loop system performances, before the AFC is applied, a supervisory controller is used to drive initial tracking errors to a preset closed area, and then the AFC can drive the tracking errors of the closed-loop system to pre-specified neighborhood in the presence of unknown approximation errors of the fuzzy logic system.

为保证系统性能的一致性，在启动自适应模糊控制器前，采用监督控制将初始跟踪误差镇定到给定范围。自适应模糊控制器可在存在模糊逻辑系统逼近误差的情况下，使系统跟踪误差小于预先给定的任意常数。

The errors and area limits caused by the lunar curvature were avoided in this model established under the Selenocentric Orthogonal Coordinate System, the accidental errors of exterior line elements were reduced by orbit fitting and interpolation, the polynomial orders of systematic errors in satellite orbits were decreased with their expression in the flying coordinate system moving and rotating with satellites, and the reliability of exterior orientation solution was enhanced under the condition of sparse and low accuracy control points by appending constraint of orbit and attitude parameters.

该模型通过在月心直角坐标系进行影像空中三角测量来消除月球曲率引起的误差和测图范围限制，通过轨道形状的拟合与插值来减小摄影时刻轨道位置的偶然误差，在飞行坐标系中建立轨道修正模型来减少定向参数的数目，对轨道和姿态增加约束条件来提高月面控制点数目稀少及精度低条件下外方位解算的精度与可靠性。

First of all, the valuation errors in TXO of the BS-IV model are the smallest among all volatility models. In the whole, the BS-IVmodel underprices the market value, BS-HV, BS-EV（EGARCH（1,1））and Ad hoc BS model overprice the market value respectively. Next, there exist the linear relationships between the valuation errors and moneyness in TXO mostly. At last, in view of hedging errors, the other thing being equal, the shorter is the maturity, the smaller is the hedging error.

本文的实证发现，在评价误差方面，整体而言，隐含波动性模型对买权及卖权的评价误差最小，隐含波动性模型之理论价格低估了市场价格；而历史波动性模型、EGARCH（1，1）模型及平滑后的历史波动性模型之理论价格则大多高估了市场价格；接著，在评价误差与金融特性关系方面，各波动性模型之评价误差与价内价外程度、股价指数报酬率、股价指数波动性、距到期日及无风险利率等因素，大多具有显著的线性关系。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。