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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。

Moreover, in order to decrease system's tracking error, the change rate of input variable is taken as a control variable, this strategy is suitable for a class of tracking control systems in which the input changes rapidly.

文中所采用的将输入变量的变化率作为控制变量来降低系统跟踪误差的方法，适用于一类输入变化较快的跟踪控制系统。

The results indicate that the ANN structure and the training sample have some impact on the prediction precision. The real time measured power as input will improve the precision of 30 min ahead prediction, however will decrease the precision of 1h ahead prediction. The results which using the atmospheric data at all different heights as input have a higher accuracy when compared with the results using hub height data only. The designed ANN can forecast the error band.

研究结果表明，神经网络的结构和输入样本对预测结果有一定的影响；实测功率数据作为输入可以提高提前量为30 min的预测精度，而对提前量为1 h的预测精度会降低；把不同高度的数据都作为神经网络的输入比只采用轮毂高度数据的预测精度高；设计的神经网络能够对误差带进行预测。

In fuzzy division of input space of the model, the division references consider not only the space distance of input sample data, but also the rule output error, thus defining"generalized sample distance", which makes model structure better.

在模型输入空间的模糊划分中，不单只考虑输入样本数据的"空间距离"，同时将规则输出误差作为输入空间划分的另一依据，由此定义"广义样本距离"，使模型结构更加合理。

Means some sort of client error in the input line, i.e. the input

意思是客户端输入的某些错误，例如，输入不符合

With voltage measurements, the input current is ideally zero; thus, any input current represents an error.

对电压测量来说，理想的输入电流应为零，所以，一切输入电流都代表误差。

By applying the concept of "dominant input",the existence of both the approximation error and external disturbance which are supposed to have unknown boundaries is considered.What's more,the adaptive law utilizes two types of errors in the adaptive fuzzy systems,the tracking error and approximation error.

该方法应用"主导输入"的概念，同时考虑了函数逼近误差和系统外扰的存在，假设了该系统逼近误差和系统外扰有界但界未知的情况；并探讨了自适应模糊控制器的参数自适应律由跟踪误差和逼近误差共同进行调节。

The method applies the progressive optimization theory to derive preview control input based on minimalization of performance index of trajectory error area between desired and actual trajectory, the feature of preview control input is that feeback and preview feedforward coefficients are changed in every sampling time.

该方法从目标路径与实际路径之间的面积误差评价函数值最小化观点出发，运用逐次最优化原理来求取最优预见控制输入。

At present, OTA circuit is designed the best circuit with minimum error generally acknowledgedly, and possessed three following advantages at the same time: using single-ended-input OTAs (overcoming the feed-through effect due to the use of differential-input OTAs), using grouded capacitors (absorbing the shunt parasitic capacitance), and using the minimum components and all the parasitic capacitances have the same places as those of all the given capacitors in the realized circuits.

目前为止，OTA电路是被公认设计最佳且误差最小的电路，且同时具备了以下三项优点：(1)使用单端输入的OTA(可免除寄生电容的Feed-through效应)，(2)使用接地电容，(3)使用最少的主动元件，且所有外加电容位置恰好与所有寄生电容的位置相同，吸收了寄生电容，并减少寄生效应对整体电路的影响。

LT3468ES5-1 Pinout: 8-bit Resolution 1 Gsps Sampling Rate ADC Gain Adjust 2 GHz Full Power Input Bandwidth Fs = 1 Gsps, Fin = 20 MHz: C SINAD = 45 dB (7.4 Effective Bits) SFDR = 58 dBc Fs = 1 Gsps, Fin = 500 MHz: C SINAD = 44 dB (7.2 Effective Bits) SFDR = 56 dBc Fs = 1 Gsps, Fin = 1000 MHz (-3 dB Fs): C SINAD = 42 dB (7.0 Effective Bits) SFDR = 52 dBc 2 Tone IMD:-53 dBc (489 MHz and 490 MHz) at 1 Gsps DNL = 0.3 LSB INL = 0.7 LSB Low Bit Error Rate (10-13) at 1 Gsps Very Low Input Capacitance: 0.4 pF 500 mVpp Differential or Single-ended Analog Inputs Differential or Single-ended 50 ECL Compatible Clock Inputs ECL or LVDS/HSTL Output Compatibility Data Ready Output with Asynchronous Reset Gray or Binary Selectable Output Data; NRZ Output Mode Power Consumption: 3.4 W at TJ = 90 C Dual Power Supply: 5 V Radiation Tolerance Oriented Design 150 Krad (Si Measured

LT3468ES5-1引脚说明： 8位分辨率1 GSPS的采样速率ADC的增益调整2 GHz的全功率输入带宽= 1 GSPS的二恶英，翅= 20兆赫中：C的SINAD = 45分贝（7.4有效位）的SFDR = 58 dBc的二恶英= 1 GSP的，财务= 500兆赫中：C的SINAD = 44分贝（7.2有效位）的SFDR = 56 = 1 GSPS的dBc的外勤人员，财务= 1000兆赫（-3分贝财经事务）中：C的SINAD = 42分贝（7.0有效位）的SFDR = 52 dBc的2声调发展学院：-53 dBc的（489兆赫和1 GSPS的的DNL = 0.3的LSB的INL = 0.7 LSB的低误码率（10-13）在1 GSPS的非常低输入电容：0.4 pF的490兆赫）500 mVpp的差分或单端模拟输入差分或单端50Ω的ECL兼容的时钟输入的ECL或LVDS / HSTL输出兼容性数据与异步复位灰色或二进制可选的输出数据就绪输出； NRZ码输出模式下的功耗：3.4 W于温度Tj = 90 C双电源：5伏辐射性导向设计

Plunder melds and run with this jewel!

掠夺melds和运行与此宝石！

My dream is to be a crazy growing tree and extend at the edge between the city and the forest.

此刻，也许正是在通往天国的路上，我体验着这白色的晕旋。