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解决冗余机器人伪逆可积性问题的势函数法
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作者 赵占芳 张启先 《北京理工大学学报》 EI CAS CSCD 1994年第S1期86-90,共5页
用伪逆求解具有冗余特性机器人关节空间的运动存在不可预测性,这是由其雅可比矩阵伪逆不可积造成的,结果直接影响机器人的轨迹规划.通过针对伪逆不可积问题的现象及其影响的分析,指出了此类问题的实质及解决问题的途径,在此基础上... 用伪逆求解具有冗余特性机器人关节空间的运动存在不可预测性,这是由其雅可比矩阵伪逆不可积造成的,结果直接影响机器人的轨迹规划.通过针对伪逆不可积问题的现象及其影响的分析,指出了此类问题的实质及解决问题的途径,在此基础上提出了处理问题的具体方法─—势函数法.实例仿真验证了势函数法的可行性. 展开更多
关键词 机器人 冗余 雅可比矩阵 势函数法/伪逆可积性
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Decoupling control and zero dynamics stabilization for shunt hybrid active power filter
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作者 鲁伟 李春文 《Journal of Central South University》 SCIE EI CAS 2014年第5期1946-1955,共10页
An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter (SHAPF) to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis a... An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter (SHAPF) to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis and q-axis current dynamics of the SHAPF system were decoupled and linearized into two pseudolinear subsystems. Then, an optimal feedback controUer was designed for the pseudolinear system, and the stability condition of the resulting zero dynamics was presented. Under the control strategy, the current dynamics can asymptotically converge to their reference states and the zero dynamics can be bounded. Simulation results show that the proposed control strategy is robust against load variations and system parameter mismatches, its steady-state performance is better than that of the traditional linear control strategy. 展开更多
关键词 HARMONICS hybrid active power filter inverse system method optimal control zero dynamics
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