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Based on Lyapunov stability theory, a less conservative sufficient condilions for the stabih'lies of uncertain discrete delayindependent and delay-dependent control systems are obtained by using the linear matrix inequality (LMI) approach. Judgement of the stability of time-delay systems is transformed to judgement of the feasible solution of an LMI, and hence is solved by use of MATLAB. Numerical simulations verify the validity of the proposed method. 相似文献
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龙绪明 《西南交通大学学报(英文版)》2008,16(1):24-29
A discrete model reference adaptive controller of robot arm is obtained by integrating the reduced dynamic model of robot, model reference adaptive control (MRAC) and digital signal processing (DSP) computer system into an electromechanical system. With the DSP computer system, the control signal of each joint of the robot arm can be processed in real time and independently. The simulation and experiment results show that with the control strategy, the robot achieved a good trajectory following precision, a good decoupling performance and a high real-time adaptivity. 相似文献
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