加权函数

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。

Unified expression for the iterative of centers is described as to deduce the conditional probability expression of the centers and data weight functions for FKHM. Finally, the partition similitude is used to evaluate the result of clustering.

在中心迭代聚类算法的统一框架的基础上，推导出FKHM算法聚类中心的条件概率表达式以及在迭代过程中的数据点加权函数表达式。

The definition of phase congruency does not provide good localization as this function only varies with the cosine of phase deviation.

在新的定义式中，引入了噪声补偿因子，频率扩展加权函数，对相位偏差引入了修正部分。

Then, the quality of growth is divided to three parts, namely, economy running quality, denizen living quality and zoology environment quality.

论文在对西部地区经济增长质量进行综合评估时，采用了多目标线性加权函数法，权重的设定采用专家调查法。

In this paper, a new weighting function of Hausdorff distance measure is proposed for face recognition.

本文提出一种新的Hausdorff距离加权函数。

Chapter 6, consider a coupled generalized KdV-Burgers equation. In section 6.2, we study the initial-boundary value problem in the semi-unbounded domain, the existence of global solutions and global attractors is proved by means of a uniform priori estimate for time. In section 6.3, the Cauchy problem by using the weighted space, the existence of the global attractors for a coupled generalized KdV-Burgers in an semi-unbounded domain is proved.

第六章，考虑了一类广义耦合的KdV-Burgers方程，在第二节中讨论了半无界区域上的初边值问题，证明了整体光滑解和整体吸引子的存在性；在第三节中讨论了Cauchy问题，利用加权函数和加权空间上的插值8不等式，证明了半无界区域上整体吸引子的存在性。

It uses a fragmental ladder function to substitute a linear function of MLFD.

采用非等间隔的阶梯加权函数取代了MLFD中的线性加权函数。

Firstly, We define several weighted spaces of holomorphic functions on the unit ball, HL〓, Z〓, B〓 and J〓.

主要内容如下： 1、定义了单位球B〓上的几个加权函数空间HL〓，Z〓，B〓和J〓。

We shall give some computational results to illustrate the properties of the weighted curvature flow when ω is a nonnegative piecewise smooth weight function.

紧接著，我们将探讨当加权函数是一非全平滑的函数时，该加权的曲度流程对於平面曲线的作用。同时，我们将尝试透过电脑模拟该加权曲度流程对於影像的变化。

Based on these phenomena,mathematical models of four effect parameters were built. According to the variables separation method,the method of weighted function was brought forward and used in decomposing the multidimensional function.

在建立效应参量模型时，参照分离变量法，提出使用加权函数的方法把多维函数分解成多个1维函数相乘，基本解决了利用有限实验数据建立数学模型的问题。

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。