The approximate optimal solution for the generalized time optimal control system with delay 具有时滞的广义时间最优控制问题的近似最优解
The former put stress on the research of time optimal control method , fuzzy discursion and moving track , and the latter on the study of ekf recursion algorithms , noise model and noise characteristic identification 前者的重点是最优时间控制方法、模糊控制器的推理以及运动相轨迹分析;后者侧重于ekf的状态估计方法、噪声模型对滤波估计性能的影响以及噪声模型的辩识方法。
Under such a background , it has vital significance to promote the development of high - speed high - precision robotics and to speed up its practical and industrial production advancement by carrying out the research on time optimal control system of high - speed high - precision robot 开展高速高精度机器人时间最优控制系统的研究,探索其在工程应用中的可行性,无疑对推动高速高精度机器人技术的发展,加快其实用化和产业化的进程具有重要的意义。
Ripi combines time optimal controller with pi controller , it is a kind of intelligent controller based on rules . within the large error range , ripi uses time optimal control , and within the small error range , it uses pi controller . by the state point , two schemes change each other Ripi将时间最优控制基本原理与pi相结合,是一种基于规则的智能控制器,该控制器在大偏差的范围内使用时间最优控制,在小偏差范围内采用pi控制,两种控制方法的切换是利用状态点进行切换。