不确定

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。

The generalized ordered weighted averaging operator is ob tamed by combining the ordered weighted averaging operator and the generalized mean operator. Based on the GOWA operator, the generalized uncertain ordered weighted averaging operator is proposed.

该算子将有序加权平均算子和广义平均算子相结合而成的广义有序加权平均算子推广到不确定的环境中，提出了一个广义不确定有序加权平均算于。

Combining with the preparation of the most basic standard solution in the environmental monitoring, the uncertainty was evaluated.

结合环境监测分析中最基础的标准溶液配制来评定不确定度，阐述测量不确定度的评定方法。

The proposed method has the merit that the numerical characteristics of stochastic temperature field response can be obtained by analyzing the random temperature field just in one time.3. Perturbed numerical algorithm of nonprobabilistic convex set theoretical models on the temperature fieldThe uncertain parameters of physical parameters and initial boundary conditions of heat conduction are described by the convex model. The perturbation formulas of the upper and lower bounds of temperature field response with unknown-but-bounded parameters are given via the combination of matrix perturbation theory and the convex set theory model.4. Numerical analysis for transient temperature field with interval parametersConsidering the uncertainties of the transient heat transfer, the physical parameters and initial boundary conditions are regarded as interval variables.

该方法具有只进行一次随机温度场分析便可以获得其响应的数字特征的优点。3、温度场的非概率凸集合理论模型的摄动数值解法将结构导热的物理参数、温度场的初始和边界条件等不确定性参数以凸模型加以描述，基于矩阵摄动理论和处理不确定问题的凸集合理论模型的结合，导出有界不确定参数瞬态温度场响应所在集合的上、下界摄动计算公式。4、具有区间参数的瞬态温度场数值分析考虑结构瞬态热传导问题的不确定性，将结构各物理参数和温度的初、边值条件均视为区间变量。

According to the result of the uncertainty (3.08±0.06)mg/L, COD in the polluted sample exceeds the limit, the use of 25ml burette produced the most contribution to the uncertainty.

根据不确定度评定结果[(3.08±0.06)mg/L]可以判定受污染的水样中耗氧量超标，25ml滴定管的使用对不确定度贡献最大。

Methods: Analyzing coliform group in food inspection results of the uncertainty of the source and calculating the uncertainty of the test results.

分析食品中大肠菌群检验结果的不确定度的来源，计算检验结果的不确定度。

For linear time-delay systems with norm-bounded uncertainties or convex polyhedron uncertainties, a sufficient and necessary delay independent condition of quadratic stabilizability under certain robust H~?

讨论了具有范数有界不确定参数线性不确定时滞系统的指定衰减度鲁棒稳定的一个充分性判据以及设计状态反馈控制器使得闭环系统具有指定鲁棒衰减度的方法。

This paper takes absolute comparative method two to evaluate the environment correction value with uncertainty theory.

本文采用绝对比较法二来进行环境修正，并且引入不确定理论对其进行评价，在具体实例的基础上，推导给出了环境修正值的不确定度表达式。

Uncertainty theory is a branch of mathematics based on normality, monotonicity, self-duality, countable subadditivity, and product measure axioms.

不确定理论是基于规范性、单调性、自对偶性、可列次可加性和乘积测度公理的数学系统，是研究不确定现象的数学分支。

This paper first utilizes the ideological design digital controler of double-loop control based on the magnetic defi...

在此基础上，考虑系统的参数摄动及外扰等不确定因素，基于系统的不确定模型运用变结构控制理论设计离散滑模变结构控制器，并进行了必要的仿真研究。

With Death guitarist Schuldiner adopting vocal duties, the band made a major impact on the scene.

随着死亡的吉他手Schuldiner接受主唱的职务，乐队在现实中树立了重要的影响。

But he could still end up breakfasting on Swiss-government issue muesli because all six are accused of nicking around 45 million pounds they should have paid to FIFA.

不过他最后仍有可能沦为瑞士政府&议事餐桌&上的一道早餐，因为这所有六个人都被指控把本应支付给国际足联的大约4500万英镑骗了个精光。