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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。
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On the basis of Muskhelishvili's complex function theory, an auxiliary field of mixedmode crack was accomplished, and then using Betti's reciprocal work theorem, a path independent contour integral method for stress intensity factors of mixed-mode crack was obtained.
本文用复变函数理论推导出裂纹的辅助场，并用Betti功互等定理给出求解混合型裂纹应力强度因子的远场围绕积分法。
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On this basis, anoptimization algorithm library named OPTLIB is formed. The study of dynamic optimization theory is followed. To solve the problem of thecoupling of the static and the dynamic parameters of the flying vehicle design, some auxiliaryvariables are introduced to deal with them together. Then the calculus of variation is adoptedand augment form of Pontryagin's Maximum Principle is derived.
研究了飞行器设计中的典型动态优化问题——轨迹优化问题及算法，针对飞行器设计中的静态参数和动态参数互相耦合的问题，引入辅助变量将静态参数和动态参数统一处理，在此基础上用变分法推导了极大值原理的增广形式，证明了单独的静态或动态最优并不等于总体最优。
- 更多网络解释与辅助推导法相关的网络解释 [注：此内容来源于网络，仅供参考]
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subsheaf：子层
subset 子集 | subsheaf 子层 | subsidiary deduction 辅助推导法
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subsidiary deduction：辅助推导法
subsheaf 子层 | subsidiary deduction 辅助推导法 | subspace 子空间