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应用Lyapunov直接稳定性理论和LaSalle不变性原理,证明了不确定非线性机械系统常用线性PID控制的半全局渐近稳定性.同时证明了为提高系统的响应速度而发展的一种非线性PI加D(NPI—D)控制系统的全局渐近稳定性.两自由度机器人系统的数值仿真结果验证了NPI—D控制的良好性能.
The Lyapunov direct stability theory and LaSalle invariance principle are applied to prove the semiglobal asymptotic stability of the commonly used linear PID control for uncertain nonlinear mechanical systems. At the same time, it is proved that a nonlinear PI added to improve the response speed of the system D (NPI-D) control system.The numerical simulation results of a two-degree-of-freedom robot system verify the good performance of NPI-D control.