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111.
An approach is presented to the control of an uncertain nonlinear flexible robot arm (PUMA-type) with three rotational joints. The third link is assumed to be elastic. A torquer control law, which is a function of the trajectory error, is derived for controlling the joint angles. The knowledge of the system dynamics is not required for the derivation of the controller. This controller includes a reference model to generate command joint angle trajectories, and a dynamic system in the feedback path which requires only joint angle and rate for feedback. The torquer controller asymptotically decouples the elastic dynamics into two subsystems, representing the transverse vibration of the elastic link in two orthogonal planes. For the damping of the elastic vibration, a force control law using modal velocity feedback is synthesized. Simulation results are presented to show that the combination of the torque and force control law accomplishes reference joint angle trajectory tracking and elastic mode stabilization despite the uncertainty in the system  相似文献   
112.
The precipitated energy flux as affected by the presence of parallel electric field and geomagnetic field distortions have been obtained using a complete kinetic treatment of pitch angle scattering by whistler waves. Four different energy spectra have been used to show that the precipitated energy flux depends on the spectral details of the interacting electron ensemble.  相似文献   
113.
A stability analysis of a single-axis rate gyroscope mounted in a space vehicle which is spinning with uncertain angular velocity ?z about the spin axis of the gyro is presented. The complete nonlinear equation of motion, which includes the fundamental and second harmonic nonlinear terms, arising due to ?z, is considered. For time-varying ?z(t), using the circle criterion, it is shown that the gimbal motion is globally asymptotically stable if the Nyquist plot of the linear transfer function of the gyro lies in the interior of a certain disk. For the case of uncertain constant ?z, using the Lyapunov approach, conditions for global asymptotic stability (GAS) and asymptotic stability are derived. Stable regions in parameter space of the gyro and state space are obtained. Analytical relations for the selection of gyro parameters are derived.  相似文献   
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