查询词典 robust

Based on an introduction to the robust control of uncertain linear systems and a survey on the past and recent contributions to the related polynomial algebraic method, state space method and frequency domain method, this dissertation focuses on the robust control problem of uncertain linear systems in frequency and time domain.

本文首先就不确定线性系统的鲁棒控制问题作一扼要的介绍和概括，并分多项式代数方法、状态空间方法和频率域方法对其历史发展及其研究现状进行了比较全面的综述。

The apriori and aposteriori H〓-optimal filtering question can be solved directly. L〓 Apriori and aposteriori filtering with an H〓 error bound can be solved by semidefinite programming. Robust H〓 apriori filtering and robust apriori L〓 filtering in discrete-time system are subject to a nonconvex constraint.

对这些滤波问题解法的改进同连续系统下的情况基本类似，对确定性系统的H〓验前滤波和验后滤波，本文解法可直接得出最优滤波问题的解；对H〓约束下的L〓验前滤波及验后滤波，其解可归结为一凸优化问题；但不确定性系统H〓验前滤波和鲁棒L〓验前滤波的LMI解法中有了非凸约束，因此要用迭代法求解。

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。

Simulation results show that the middle frame closed-loop control system posseses robust stability and robust performance in a certain sense.

仿真结果表明，中框闭环系统具有一定的鲁棒稳定性和鲁棒性能。

This paper adopted a course keeping nonlinear robust controller based on closed-loop gain shaping algorithm and exact feedback linearization algorithm and a speed robust controller which was based on closed-loop gain shaping algorithm.

该文采用基于闭环增益成形算法和精确反馈线性化算法的航向保持非线性鲁棒控制器与基于闭环增益成形算法的速度鲁棒控制器。

For a nonlinear course keeping system for ships, a kind of nonlinear robust PID is presented, which is based on an exact feedback linearization and a closed-loop gain shaping algorithm. The nonlinear PID controller is constituted of a nonlinear items with a robust PID controller.

针对非线性船舶航向保持系统，给出一种基于精确反馈线性化和闭环增益成形算法的非线性鲁棒PID控制器，该非线性PID控制器由非线性函数项和鲁棒PID控制器组成。

The controller makes the closed-loop systems internally stable and minimizes the H2 norm of the transfer matrix Tzw from w to z. Two Riccati formulae based on 8 operator is deduced. The H2 problems for continuous time systems, Z operator models and 8 operator models are investigated respectively.The guaranteed cost control problem of robust stabilization and robust performance for uncertain systems which is described by 8 operator is discussed in this paper.

采用Riccati方程处理方法讨论了基于Delta算子描述下的离散系统存在输出反馈控制器的问题，得到了两个基于Delta算子的Riccati方程，设计了Delta域的输出反馈控制器，使得闭环系统内稳定，且满足从w到z的传递矩阵T_的H_2范数最小，设计了基于Delta算子描述下的离散系统的最优控制器，并与S域和Z域的H_2控制器进行了比较。

CCRGS method is the most robust; correlation ratio is more robust than mutual information.

除此之外，还对CCRGS方法和互信息方法、相关比率方法进行了比较。

This paper is concerned with the relationship between robust stability and robust diagonal dominance for MIMO systems.

摘要本文研究了多输入多输出系统的鲁棒稳定性和鲁棒对角优势的关系。

After having an analysis on uncertain optimization problems, the thesis introduces the research results of Ben-Tal and Bertsimas, and mainly has a detail discription on robust linear programming and robust discrete optimization.

论文在对不确定优化问题分析的基础上，对鲁棒优化研究的代表人物Ben-Tal和Bertsimas的研究成果进行了总结，重点对鲁棒线性规划和鲁棒离散优化进行了阐述。

Vishnu entered a dark fourth dimensional dream that did not support his field or continued life.

毗瑟挐进入了一个第四密度的黑暗梦想，那里并不支持他的能量场或继续生命。

Leaders and decision-making persons use it to collect the data, including the information of unit work, handing in fee, oweing fee, prepaying fee,changing and afterpaying and account transfering of joining-insurance employee, and account paying of all kinds of insurances from hospitalization insurance institutions.The collected data is picked up, organized, switched and showed to user.

该子系统主要面向各级领导、决策分析人员；从各个医疗保险经办机构和定点医疗机构采集数据，包括在各个医疗保险经办机构处理的单位办公信息，单位缴费、欠费、预缴费信息，参保职工变更信息，参保职工增减变动信息，参保职工补缴信息，参保职工帐户划拨信息：包括各定点医疗机构处理的各险种帐户支出信息，各险种的统筹金支付信息等；将采集的数据提取，组织和转换，然后展示给用户。