近似线性化与精确线性化的分析与比较  

The Analysis and Comparison between Approximate Linearization and Precise Linearization

作　　者：陈静[1] 王轶卿[1] 

机构地区：[1]南京工业大学自动化学院,江苏南京210009

出　　处：《机械与电子》2008年第5期20-22,共3页Machinery & Electronics

摘　　要：针对一类非线性系统的镇定问题,分析了基于泰勒展开的近似线性化方法和基于微分几何的精确线性化方法所设计的控制器不同之处,研究了精确线性化方法在远离平衡点的非线性系统控制上的优越性。最后以柔性关节机械臂系统为例验证了所得结论的正确。The stabilization of a kind of nonlinear system is considered in this paper. The difference between approximate linearization and precise linearization is analyzed. And study the superiority of using precise linearization method in control nonlinear system what away from the point of balance. Finally, the conclusion is shown correctly by taking the case of the stabilization of a robot with flexible joint.

关 键 词：微分几何 精确线性化 镇定控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]