误差律

In this method,the main control law is approximated by an adaptive fuzzy system directly;the approximation error and disturbing torqu...

在控制律的设计中，将自适应模糊系统直接用作系统的主控制律，利用扩张状态观测器对模糊系统的逼近误差和内外干扰力矩进行观测并予以实时补偿。仿真结果表明了方法的有效性。

We have proposed the switching adaptive control law for the systems and designed the Lyapunov function in this thesis. It is proved that the proposed switching adaptive control law guarantees the solutions of the nonlinear systems boundedness and convergence of the tracking error to a residual set based on the Lyapunovs stability theory. The residual set can be made arbitrarily small by choosing a certain design parameters.

文中设计出了这类系统的切换自适应控制律，并构造出相应的Lyapunov函数，基于Lyapunov稳定性理论证明了系统在所设计的控制律作用下，闭环信号都有界并且跟踪误差收敛到一个集合，通过选择适当的参数可使这个集合任意小。

By introducing a differential-difference adaptive law, an adaptive repetitive learning control strategy is designed to ensure the asymptotic convergence of the extended tracking error in the sense of square error norm.

通过引进微分－差分参数自适应律，设计了一种自适应控制策略，使广义跟踪误差在误差平方范数意义下渐近收敛于零。

A differential-difference mixed-type adaptive law and an adaptive learning control method are constructed to ensure the asymptotic convergence of the extended tracking error in the sense of square error norm.

通过引进新颖的微分－差分混合型参数自适应律，使广义跟踪误差在误差平方范数意义下渐近收敛于零。

It is shown that with right coordinate transformation in the cases, the error of th...

理论和数值算例表明，只要对重频系统设计的反馈律作正确的坐标变换，应用到上述三种情形时，其闭环系统的衰减律的误差只有相应频率分散度的一阶小量

The controllability and observability of the original system are not changed by the equivalent transformation.

在最优控制律存在的条件下，证明了此最优控制律能使系统最后的跟踪误差为零。

This method combines the information of output tracking error with the parameter estimate error in constructing the adaptation law, which gives a better result in parameter estimation than that from the traditional ARC.

该方法同时采用了输出误差与参数估计误差的相关信息构造自适应律，具有比常规ARC更好的参数估计效果。

A filtered transformation and a stochastic control Lyapunov design method are applied to Marino-Tomei systems driven by Wiener noises of unknown covariance. A parameter adaptive law and a control law are obtained to ensure that the closed-up systems are noise-to-state stable and the tracking error can converge to a small residual set around the origin in the sense of mean quartic value in average.

通过滤波变换，采用随机控制Lyapunov设计方法，对于受方差未知的Wiener噪声干扰的Marino-Tomei非线性系统，给出了参数自适应律和控制律，使得闭环系统成为噪声--状态稳定的，并且跟踪误差的4次均方值在时间平均意义下收敛到一个足够小的区域内。

A modified PID control law and an uncoupled variable structure control law all based on the error-quaternion are developed.

姿态控制系统研究：首先基于全局非奇异的误差四元数分别设计了改进的PID控制律和解耦变结构控制律。

The linear combination of the error and its derivative are selected as switch surface, and then the tendency law method is used to design VSC control law. T-S FNN is imported, so that the actual output can trail the given value.

选择误差及其各阶导数的线性集结作为切换面，用趋近律方法设计变结构控制律，引入T-S模糊神经网络，使实际输出始终跟踪给定值。

Plunder melds and run with this jewel!

掠夺melds和运行与此宝石！

My dream is to be a crazy growing tree and extend at the edge between the city and the forest.

此刻，也许正是在通往天国的路上，我体验着这白色的晕旋。