饱和类
For a class of n joint manipulator systems, an adaptive iterative learning control design with input saturation and a robust iterative learning control design with input saturation are proposed. Both of the controllers guarantee global stability of the closed-loop systems.
将上述设计方法推广到n自由度机械臂系统,提出了输入转矩限幅下的适应迭代学习控制与鲁棒迭代学习控制,并对算法稳定性作了证明。
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