法鲁

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。

And David was the father of Solomon by the wife of Uri'ah, 7 and Solomon the father of Rehobo'am, and Rehobo'am the father of Abi'jah, and Abi'jah the father of Asa, 8 and Asa the father of Jehosh'aphat, and Jehosh'aphat the father of Joram, and Joram the father of Uzzi'ah, 9 and Uzzi'ah the father of Jotham, and Jotham the father of Ahaz, and Ahaz the father of Hezeki'ah, 10 and Hezeki'ah the father of Manas'seh, and Manas'seh the father of Amos, and Amos the father of Josi'ah, 11 and Josi'ah the father of Jechoniah and his brothers, at the time of the deportation to Babylon. 12 And after the deportation to Babylon: Jechoni'ah was the father of She-al'ti-el, and She-al'ti-el the father of Zerub'babel, 13 and Zerub'babel the father of Abi'ud, and Abi'ud the father of Eli'akim, and Eli'akim the father of Azor, 14 and Azor the father of Zadok, and Zadok the father of Achim, and Achim the father of Eli'ud, 15 and Eli'ud the father of Elea'zar, and Elea'zar the father of Matthan, and Matthan the father of Jacob, 16 and Jacob the father of Joseph the husband of Mary, of whom Jesus was born, who is called Christ.

达味由乌黎雅的妻子生撒罗满，撒罗满生勒哈贝罕，勒哈贝罕生阿彼雅，阿彼雅生阿撒，阿撒生约沙法特，约沙法特生约兰，约兰生乌齐雅，乌齐雅生约堂，约堂生阿哈次，阿哈次生希则克雅，希则克雅生默纳舍，默纳舍生阿孟，阿孟生约史雅，约史雅在巴比伦流徙期间生耶苛尼雅和他的弟兄们，流徙巴比伦以后，耶苛尼雅生沙耳提耳，沙耳提耳生则鲁巴贝耳，则鲁巴贝耳生阿彼乌得，阿彼乌得生厄里雅金，厄利雅金生阿左尔，阿左尔生匝多克，匝多克生阿歆，阿歆生厄里乌得，厄里乌得生厄肋阿匝尔，厄肋阿匝尔生玛堂，玛堂生雅各伯，雅各伯生若瑟，玛利亚的丈夫；玛利亚生耶稣，他称为基督。

In order to solve the disadvantage of robust filter algorithm which has great calculation and complicated deduce processing, an improved decentralized robust filter algorithm was designed through equipollent deduction and the on-line alterable value of γ f.

针对鲁棒滤波法计算量大和递推过程复杂的不足，通过等价推导，在线改变γf的值，设计了分散优化鲁棒滤波法，使得鲁棒滤波算法递推简单，避免了直接计算滤波增益阵，并减小了主滤波器计算负荷。

By now it was clear that Calcifer did all the strong magic in the castle and Michael did all the hackwork, while Howl gadded off catching girls and exploiting the other two just as Fanny had exploited her. Sophie had never found Howl particularly frightening.

现在情形很清楚了：卡西法包办了整个城堡强大的魔法部分，马鲁克则包办所有下人的工作，霍尔却只会在外头游荡，抓女孩子，并且像芬妮剥削她一样，剥削马鲁克和卡西法。

About the author: this article was written by Farouk Radwan of 2 Know Myself .

关于作者：此文摘自法鲁克拉德万的《2 Know Myself 》一书。

The Solia Tourmaline Ceramic Ion flat iron is a good appliance, as is the Farouk CHI flat iron.

电气石陶瓷的Solia铁离子平板是一个很好的设备，这是因为铁法鲁克池平。

Martyrdom Week marks the anniversary of the assassination of Maulvi Muhammad Farooq, a figure in the Kashmir separatist movement.

殉难周是爲了纪念克什米尔分裂运动成员法鲁克遇害。

After the 2002 parliamentary elections, Musharraf transferred executive powers to newly elected Prime Minister Zafarullah Khan Jamali, who was succeeded in the 2004 Prime-Ministerial election by Shaukat Aziz and was followed, for a temporary period in office, by Chaudhry Shujaat Hussain.

在2002年议会选举中，穆沙拉夫总统的行政权力移交给新当选的总理法鲁拉汗贾迈利，谁是成功地在2004年总理选举的部长肖卡特阿齐兹，随后，临时时期办公室，由乔杜里舒贾特侯赛因。

LAGOS, Nigeria As a member of an uppercrust Nigerian family, Umar Farouk Abdulmutallab received the best schooling, from the elite British International School in West Africa to the vaunted University College London.

拉各斯，尼日利亚-作为一名尼日利亚上层家庭成员，奥马尔法鲁克受到最好的教育，从英国在西非最好的精英国际学校，到他自诩的伦敦大学学院。

Outlined in the Beijing Olympic Games, at 13:30 on August 13 Switzerland and France than was Ankan Qiela La Road Cycling Championship. Ankan Qiela La France in the World Championships: 2004 Bardolino, Italy was eighth, 2005 Madrid, Spain, was third, 2006 Salzburg, Austria received first place in 2007 at Stuttgart, Germany was the first ; France 2005 cycling sai Laise Skopje was seventh; Flanders Cycling Grand Prix E3 second place; Belgium Harelbeke 2007 Road Cycling sai second place; Florence - Bicycle sai Pistoia, Italy Paper 2004 Si Tuoya fourth; Ghent - Victoria Buddhist roots bike sai fourth; Road Cycling Events, the Belgian peacekeepers Buddhist roots fourth in 2006 Belgian peacekeepers were sixth Buddhist roots; HEW Classic Bicycle Germany 2005 Hamburg Road Cycling sai fourth in the 2006 German Beer, Luke second Challenge; Milan - San Remo Road Cycling sai second place; San Remo, Italy, the 2008 Road Cycling sai was the first; Monte Siena, Italy 2008 Paschi Eroica Road Cycling sai was the first Swiss national championships, in 2008 Switzerland was the first Messen; Stettlen 2007 Switzerland was the first in 2006 was the first Ruishiboning root 2005 Switzerland was the first Hagendorn; Highway Cycling Merit 2007 Rui Shibu Kruger was second in Paris - Roubaix bicycle sai , 2006 France was the first Roubaix; Roubaix France was second in 2008; 2005 Roubaix France was eighth; Denmark Post bike sai The 2006 final ranking was the first Danish Frederiksberg; ring The 2006 Belgian Flanders Cycling Road Cycling sai Meerbeke was sixth; Etruscan - Adriatic bike sai , 2008 Italy's Benetton and child care - Badelt-care was the first in the Central bike sai Luxembourg, Luxembourg Central Di Jixi 2005, was second; bike sai Central California, the United States in 2008 in Pasadena, California, was fourth ; Athens, Greece in 2004 was the 10th individual time trial; Olympics

瑞士法比安坎切拉拉在世界锦标赛：2004 意大利巴多利诺上获得第八名，2005 西班牙马德里上获得第三名，2006 奥地利萨尔茨堡上获得第一名，2007 德国斯图加特上获得第一名；2005 法国莱塞比耶自行车赛获得第七名；佛兰德E3自行车大奖赛获得第二名；2007 比利时哈勒尔贝克公路自行车赛获得第二名；佛罗伦萨-皮斯托亚自行车赛，2004 意大利皮斯托亚获得第四名；根特-维佛根自行车赛获得第四名；公路自行车赛 2005 比利时维佛根获得第四名；2006 比利时维佛根获得第六名；HEW自行车经典赛 2005 德国汉堡公路自行车赛第四名；2006 德国比尔，路克挑战赛第二名；米兰-圣雷莫公路自行车赛获得第二名；2008 意大利圣雷莫公路自行车赛获得第一名；2008 意大利锡耶纳 Monte Paschi Eroica 公路自行车赛获得第一名；瑞士全国锦标赛，在2008 瑞士Messen 获得第一名；2007 瑞士Stettlen 获得第一名；2006 瑞士伯宁根获得第一名；2005 瑞士Hagendorn获得第一名；公路自行车赛 2007 瑞士布鲁格获得第二名；巴黎-鲁贝自行车赛，2006 法国鲁贝获得第一名；2008 法国鲁贝获得第二名；2005 法国鲁贝获得第八名；丹麦邮政自行车赛决赛排名赛 2006 丹麦腓特烈斯贝获得第一名；环佛兰德自行车赛 2006 比利时Meerbeke 公路自行车赛获得第六名；伊特鲁里亚-亚得里亚海自行车赛，2008 意大利圣贝内代托-德尔特龙托获得第一名；在环卢森堡自行车赛，2005 环卢森堡迪基希，获得第二名；环加利福尼亚自行车赛，在2008 美国加利福尼亚帕萨迪纳，获得第四名；2004 希腊雅典个人计时赛获得第十名；奥运会 2008 北京奥运会男子公路个人赛季军。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了