声明
Acknowledgements
摘要
Abstract
Contents
Chapter 1 Preface
1.1 Foreword
1.2 Dynamics modeling and analysis of mechanical systems
1.3 Motion control of constrained mechanical systems
1.4 System uncertainty and its description
1.5 Research origination and outline
1.6 Significance and main contents of this paper
Chapter 2 Analytical dynamics theory for constrained system
2.1 The vector-matrix notation
2.2 Generalized inverse of matrix
2.3 Constraints
2.4 Udwadia-Kalaba fundamental equation
2.5 Leitmann’s inverse theory
2.6 Conclusions
Chapter 3 Dynamics modeling and analysis of the Brachistochrone-Bolza with Coulomb friction
3.1 Introduction
3.2 Mathematical model of the classical Brachistochrone problem
3.3 Closed-form Motion of the Brachistochrone curve with Coulomb friction
3.4 Minimization analysis of the Brachistochrone
3.5 Closed-form Brachistochrone curve with Coulomb friction
3.6 Conclusions
Chapter 4 High-order adaptive robust control for uncertain mechanical systems
4.1 Introduction
4.2 Mechanical system and constraint
4.3 Constraint force when uncertainty is known
4.4 High-order adaptive robust control design
4.5 Performance analyses
4.6 Illustrative example
4.7 Conclusions
Chapter 5 Adaptive-adaptive robust control for mechanical systems:both system uncertainty and design uncertainty considered considered
5.1 Introduction
5.2 Constrained mechanical system with uncertainty
5.3 Constraint force with known uncertainty
5.4 Adaptive-adaptive robust control design Ⅰ:leakage-type
5.5 Adaptive-adaptive robust control design Ⅱ:dead-zone type
5.6 Illustrative example
5.7 Conclusions
Chapter 6 Optimal robust control for fuzzy mechanical systems
6.1 Introduction
6.2 Fuzzy preliminaries
6.3 Constrained mechanical system with uncertainty
6.4 Constraint force when uncertainty is unconsidered
6.5 Robust control design
6.6 Special cases
6.7 Optimal parameter design
6.8 Illustrative example
6.9 Conclusions
Chapter 7 Conclusions and future work
7.1 Dissertation summary
7.2 Innovations
7.3 Prospect
Bibliography
Publications
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