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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。

As power market reformation carries on, power grid is in difficult status at the aspects of modulating peak effectively, operating safely and stably and supplying power reliably. Pumped storage power station has an important effect on safe, stable and economical operation of power grid. Research on benefit's comprehensive evaluation and operation mode of pumped storage power station is the avant-courier and difficulty in the domain of technology economy and management, which has important theory research value and practical significance.

随着我国电力市场改革，电网的调峰、安全稳定运行和可靠供电面临更为严峻的形势，抽水蓄能电站对电网安全、稳定和经济运行发挥着重要的作用，对抽水蓄能电站的效益综合评价和运营模式进行研究是目前国际上技术经济及管理研究的前沿问题之一，也是难点问题之一，具有重要的理论研究价值和实际意义。

Practical results show that the proposed method lowers both average error and maximum error and improves forecasting precision.

对预测结果的分析表明，多点外推法不仅减少了平均误差，也使最大误差降低，能有效提高预测精度。

The average error of the leachate concentration is less than 6%,which is verified the model is reliable and practical.

淋滤液浓度拟合误差小于6%，从而验证了模型的可靠性和实用性。

The result indicates that it is simple and practical and system is speed up to sixty point two percent averagely.

结果表明，该方法简单、实用，优化后速度平均有60.2%的改进。

I'm avery practical person.

我是个非常现实的人。

Many examples and process data cited in the paper are obtained from the practical engineering of Avesta Sheffield AB.

其中许多工艺数据和应用实例都是瑞典的阿维斯塔谢菲尔德有限公司多年的实际经验。

Avi file format documentation, this is a very old, but very practical, simple and convenient.

详细说明： avi的文件格式文档，这个是很古老的，但很实用，简单方便。

The paper has important practical significance and value to development of our country aviation project.

本课题对我国航空事业的发展具有重要的现实意义和实用价值。

As for the practical seismic data,higher signal to noise ratio is a precondition of azimuthal AVO analyzing.

就实际地震数据来说，较高信噪比（＞5）是进行方位AVO分析的前提。

Liapunov—Schmidt method is one of the most important method in the bifurcation theory.

Liapunov—Schmidt方法是分叉理论的最重要方法之一。

Be courteous -- even when people are most discourteous to you .

要有礼貌──即使当別人对你最不礼貌的时候。