论文部分内容阅读
从机器人控制中抽象出一类仿射非线性广义系统，给出此类系统的简化条件及方法，讨论了它的输出跟踪问题，并推出了可稳的充分条件．
A class of affine nonlinear singular systems is abstracted from the robot control. The simplified conditions and methods for such systems are given. The output tracking problem is discussed and a sufficient and sufficient condition is given.