镇定

And the detailed admissible stabilizing strategy sets are proposed. The completely admissible stabilizing strategies for second order switched systems are given.

给出了具体的容许镇定策略集合，并对二阶切换系统给出了详细的容许镇定策略。

Based on the existence of the solution to a LMI, a sufficient condition is obtained under which the composite systems can be quadratically stabilized with a H〓 norm bound constant on disturbance attenuation for all admissible uncertainties and a necessary and sufficient condition is obtained using BMI.

采用线性矩阵不等式方法，给出了系统可鲁棒H〓分散镇定的充分条件；采用双线性矩阵不等式方法，给出了系统可鲁棒H〓动态输出反馈分散镇定的充要条件，并给出了算法。

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。

Methods are offered to design a stabilizer via the state and output feedback, respectively. Moreover, algorithms are proposed to obtain a stabilizer such that the stability domain of the closed loop systems is maximized with respect to the used method.

进一步得到了状态和输出反馈鲁棒镇定控制器的设计方法，及文中方法意义下具有最大稳定域的镇定控制器设计算法。

Then a quasi -Newton decent numeric algorithm for solving the consistent equations is presented and applied to solving the simultaneous simulation problem.

先运用多项式分解，将严格正则线性系统同时镇定问题化成一组相容非线性方程的求解，然后提出了一种求解相容非线性方程组的拟牛顿下山数值算法，并应用该方法求解同时镇定问题。

A convex combination condition and a switching strategy are derived.

针对离散单时滞切换系统，提出了一个使系统渐近稳定的充分性条件，给出了该系统的无记忆状态反馈镇定和无记忆输出反馈镇定，并将结果推广到不确定离散时滞切换系统的鲁棒镇定。

If our mother was strong and even-tempered,we are going to be attracted to a fair-minded strengthin our mates.

如果我们的母亲是严肃镇定的，我们就会被严肃镇定的人吸引。

Based on homogeneous approximation, a robust control law is designed, which drives generalized coordinates of the closed loop system to the origin exponentially and generalized velocities to the origin asymptotically.

基于齐次展开的思想，给出了一种鲁棒控制器设计方法，使得闭环系统的广义位置坐标指数镇定，广义速度渐近镇定。

The major contributions of this thesis include:(1) proposing a new kind of optimal feedback control, followed by its application to chaos targeting and stabilization of high period unstable periodic orbits ;(2) stabilization of unstable fixed point in chaotic systems using some kind of nonlinear feedback control, and giving sufficient condition for the existence of the controller as well as the synthesis procedure;(3) analyzing the robustness of optimal control in chaotic Lur'e systems under the help of H〓 control theory;(4) finally and most importantly, introducing a novel method of information storage based on discrete time chaotic systems as the application of chaos control, and systematically studying different schemata for implementation, providing a theoretic basis for the design of such new kind of information storage devices with large capacity.

本文的主要工作包括，提出一种新的最优反馈控制，并将之应用于混沌引导控制及混沌系统高周期不稳定周期轨道的镇定控制；针对不动点镇定控制的一类非线性反馈控制器，文中给出该类反馈控制存在的充分条件及设计步骤；文中还利用非线性H〓鲁棒控制理论对Lur'e混沌系统中的最优线性反馈控制进行鲁棒性分析；最后，也是最重要的，作为混沌控制的应用，文中提出一种基于离散时间混沌系统的信息存储方法，系统地分析、研究了实现这种信息存储的不同方案，为以后进行这种新型大容量存储器设计提供了一定的理论依据。

The condition of stabilization is given for the systems by using Lyapunov equation method and matrix norm properties, and a decentralized robust stabilization controller is designed.

运用Lyapuonv方程的方法结合矩阵的范数性质得到了系统可镇定的条件，并给出了一种分散鲁棒镇定控制器的设计。

The absorption and distribution of chromium were studied in ryeusing nutrient culture technique and pot experiment.

采用不同浓度K2CrO4(0，0.4，0.8和1.2 mmol/L)的Hoagland营养液处理黑麦幼苗，测定铬在黑麦体内的亚细胞分布、铬化学形态及不同部位的积累。

By analyzing theory foundation of mathematical morphology in the digital image processing, researching morphology arithmetic of the binary Image, discussing two basic forms for the least structure element: dilation and erosion.

通过分析数学形态学在图像中的理论基础，研究二值图像的形态分析算法，探讨最小结构元素的两种基本形态：膨胀和腐蚀；分析了数学形态学复杂算法的基本原理，把数学形态学的部分并行处理理念引入到家实际应用中。