It is shown that the proposed controller can guarantee the global boundness of all closed-loop signals and force the tracking error converge exponentially to a small bounded neighborhood of zero.

 
  • 通過(guò)引入滑模觀(guān)測器,避免了對關(guān)節角速度信號的測量,該控制器不僅能保證閉環(huán)系統所有信號全局有界,且能使跟蹤誤差以指數速度收劍到零的小鄰域內。
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