帶時(shí)滯彈性機(jī)器人模型的控制問題

1、碩士學(xué)位論文帶時(shí)滯彈性機(jī)器人模型的控制問題TheControlProblemofElasticRobotModelwithTimeDelay學(xué)科專業(yè)：運(yùn)籌學(xué)與控制論研究生：王淑平指導(dǎo)教師：許跟起教授天津大學(xué)理學(xué)院二零零八年五月ABSTRACTAsallemergingdiscipline，roboticshasbeendevelopingfornearlyfortyyearsDuringthelatesttenyears，theoper

2、ation，dynamics，movementplanningandcontrolissuesofelasticrobothavebecomemoreandmorepopularExpertsandscholarshavemadealotofperfectresultsinthefieldofthecontrolproblemofelasticrobotHowever，thoseresultsmainlyfocusOilthequali

3、tativeanalysisofthesystemwhiletheissuesrelatedtothequantitativeofsystemsareveryfewInpeople’Sreallifeandengineeringapplication，thequalitativeresultsofsystemisoftenrequiredSohowtogetalleffectiveapproximationofsolution，asth

4、eauthorknow，hasnotbeenreachedyetSOfarInthisthesis，theobjectistodiscusstheproblemthatthestructureofsolutionofaflexiblerobotmodelwithtimedelayInthepresentpaper，westudyonedegreeoffreedomandpositioncontrolledofamodelofelasti

5、crobotwithtimedelaywhosemotionisgovernedbyafunctionaldifferentialequationsFirstlyaccordingtotherequestofthesystem，inordertewritethefunctionaldifferentialequationofthedynamicsystemwithtimedelayintoaevolutionaryequation，we

6、chooseanappropriatestatespace—Hilbertspace；SecondlyweinvestigatethewellposednessofabstractevolutionaryequationbyusingthemethodofthetheoryofsemigroupandfunctionalanalysisThentheasymptoticexpressionoftheeigenvaluesandtheir

7、correspondingeigcnvectorforthewellposedsystemisobtainedbyapplyingcomplexanalysisandspectraltheoryOnthebasisofabovediscussion，weprovethatthesequenceofeigenvectorsofthesystemoperatorfailtoformabasisforthestatespaceButwecal

8、lstillexpandthesolutionofthesystemaccordingtothesystemeigenvectorsAfteranalyzingtheequationinquestion，wechooseappropriateparametersandthensimulatethesolutionThesimulationresultsshowthatthesolutionisnotonlyabsolutelyconve

9、rgent，butallaccurateexpressionofsolutionaswellwhent47ThisworkiStheresearchOiltheelasticrobotmodelwithtimedelayAsthemethodweadoptedisageneralone，itCanbeappliedtothemodelsofothersystemswithtimedelaysuchasbiologicalmodels，e