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本文用Lyapunov方法研究了一类以工业机器人为背景的模型参考自适应控制问题,克服了过去用Lyapunov方法设计不能保证渐近稳定的缺点,并把该方法应用到工业机器人控制中。
In this paper, a class of model reference adaptive control problem based on industrial robots is studied by using Lyapunov method, which overcomes the shortcomings that the Lyapunov method can not guarantee asymptotic stability in the past. The method is applied to industrial robot control.