声明
Abstract
摘要
Acknowledgements
Contents
Chapter 1 Preface
1.1 Foreword
1.2 Research overview
1.3 Description manners to system uncertainties
1.4 Control approach for constrained flexible joint manipulator
1.5 Research origination and motivation
1.6 Significance of this paper
Chapter 2 Robust control of uncertain flexible joint manipulator
2.1 Introduction
2.2 Mechanical system with uncertainty
2.3 Dynamical model of flexible joint manipulator with uncertainty
2.4 Fundamental properties of inertia matrix
2.5 The proposed robust controller
2.6 Theoretical proof of the proposed robust controller
2.7 Experimental verification
2.8 Conclusions
Chapter 3 Adaptive robust control of uncertain flexible joint manipulator
3.1 Introduction
3.2 Flexible joint manipulator with unknown uncertainty bound
3.3 Adaptive robust control design
3.4 The proof of the stability
3.6 Experimental verification
3.7 Conclusions
chapter 4 Fuzzy dynamical system approach to the optimalcontrol for flexible joint manipulator
4.1 Introduction
4.2 Preliminary: fuzzy matllematics
4.3 Fuzzy dynamical model of flexible joint manipulator
4.4 Deterministic adaptive robust control design
4.5 Performance analysis of original system
4.6 Optimal gain design of control parameters
4.7 Illustrative example
4.8 Conclusions
Chapter 5 Dynamical model and control of constrained mechanical system
5.1 Introduction
5.2 Moore-Penrose generalized inverse
5.3 Mechanical system subject to the constraint
5.4 Udwadia-Kalaba equation
5.5 Discussion of the constraint
5.6 Constraint force servo control design
5.7 Conclusions
Chapter 6 Constraint force servo control for uncertain flexible joint manipulator
6.1 Introduction
6.2 Preliminaries
6.3 Fuzzy described system model of constrained flexible joint manipulator
6.4 Adaptive robust constraint force servo control design
6.5 Optimal gains design
6.6 Illustrative Example
6.7 Conclusions
Chapter 7 Conclusions and future work
7.1 Dissertation summary
7.2 Innovations
7.3 Prospect
附录:总结和展望(中文)
References
Academic activities and achievements