查询词典 robust

The notion of affine quadratic stability is proposed for uncertain delayed systems. Based on such a notion, methods of robust stability and robust H〓 performance analysis for uncertain linear delayed systems with affine parameter uncertainty are developed by using linear matrix inequalities.

本章提出了不确定时滞系统仿射二次稳定的概念，对于具有仿射参数不确定性的线性时滞系统，基于仿射二次稳定概念，利用线性矩阵不等式给出了鲁棒稳定性和鲁棒H〓性能分析方法。

All these descriptors are not only robust to illumination change, but also robust to affine transformation and image blurring.

这些颜色不变性描述子不仅具有对图像光照变化的鲁棒性，而且还具有对图像几何变化以及图像模糊的鲁棒性。

Based on an introduction to the robust control of uncertain linear systems and a survey on the past and recent contributions to the related polynomial algebraic method, state space method and frequency domain method, this dissertation focuses on the robust control problem of uncertain linear systems in frequency and time domain.

本文首先就不确定线性系统的鲁棒控制问题作一扼要的介绍和概括，并分多项式代数方法、状态空间方法和频率域方法对其历史发展及其研究现状进行了比较全面的综述。

The apriori and aposteriori H〓-optimal filtering question can be solved directly. L〓 Apriori and aposteriori filtering with an H〓 error bound can be solved by semidefinite programming. Robust H〓 apriori filtering and robust apriori L〓 filtering in discrete-time system are subject to a nonconvex constraint.

对这些滤波问题解法的改进同连续系统下的情况基本类似，对确定性系统的H〓验前滤波和验后滤波，本文解法可直接得出最优滤波问题的解；对H〓约束下的L〓验前滤波及验后滤波，其解可归结为一凸优化问题；但不确定性系统H〓验前滤波和鲁棒L〓验前滤波的LMI解法中有了非凸约束，因此要用迭代法求解。

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。

Simulation results show that the middle frame closed-loop control system posseses robust stability and robust performance in a certain sense.

仿真结果表明，中框闭环系统具有一定的鲁棒稳定性和鲁棒性能。

This paper adopted a course keeping nonlinear robust controller based on closed-loop gain shaping algorithm and exact feedback linearization algorithm and a speed robust controller which was based on closed-loop gain shaping algorithm.

该文采用基于闭环增益成形算法和精确反馈线性化算法的航向保持非线性鲁棒控制器与基于闭环增益成形算法的速度鲁棒控制器。

For a nonlinear course keeping system for ships, a kind of nonlinear robust PID is presented, which is based on an exact feedback linearization and a closed-loop gain shaping algorithm. The nonlinear PID controller is constituted of a nonlinear items with a robust PID controller.

针对非线性船舶航向保持系统，给出一种基于精确反馈线性化和闭环增益成形算法的非线性鲁棒PID控制器，该非线性PID控制器由非线性函数项和鲁棒PID控制器组成。

The controller makes the closed-loop systems internally stable and minimizes the H2 norm of the transfer matrix Tzw from w to z. Two Riccati formulae based on 8 operator is deduced. The H2 problems for continuous time systems, Z operator models and 8 operator models are investigated respectively.The guaranteed cost control problem of robust stabilization and robust performance for uncertain systems which is described by 8 operator is discussed in this paper.

采用Riccati方程处理方法讨论了基于Delta算子描述下的离散系统存在输出反馈控制器的问题，得到了两个基于Delta算子的Riccati方程，设计了Delta域的输出反馈控制器，使得闭环系统内稳定，且满足从w到z的传递矩阵T_的H_2范数最小，设计了基于Delta算子描述下的离散系统的最优控制器，并与S域和Z域的H_2控制器进行了比较。

By continuous working for 60 years, the Chinese geodesists have developed the quasi-stable adjustment principle, robust estimation based on equivalent weight principle, robust estimation for correlated observations, adaptively robust filters etc.

中国学者经过60年不懈努力，在自由网平差、拟稳平差、半参数估计、不适定问题解算方法、抗差估计、自适应滤波等领域做出了重要贡献，建立了许多新的理论、模型和方法，推进了大地测量数据处理理论的进展。

If you are unfortunate enough to the lovelorn, please tell me, I will help you out, really, please contact me!

如果你不幸失恋了，请告诉我，我会帮助你摆脱困境，真的，请联系我啦！

China's plan to cut energy intensity by 20 percent and pollutant discharges by 10 percent between 2006 and 2010 is a case in point.

中国计划在2006年到2010间降低20%的能源强度和减少10%的主要污染物排放，就是一个这样的例子。