非定常线性系统在经常作用干扰下的稳定性定理及其在机器人动态稳定性分析中的应用  

The Theorem of the Stability of Linear Nonautonomous Systems under the Frequently-Acting Perturbation and Its Application in the Stability Analysis of Robot

作　　者：张书顺 

机构地区：[1]哈尔滨船舶工程学院

出　　处：《应用数学和力学》1991年第11期989-995,共7页Applied Mathematics and Mechanics

摘　　要：本文在文献[1]、[2]的基础上,给出并证明了非定常线性系统在经常作用干扰下稳定的充分和必要条件,并推得该系统在李雅普诺夫意义下一致渐近稳定和在经常作用干扰下稳定等价的定理.此外,作者还应用文中的定理,对机器人动态稳定性进行了比较切合实际的分析.The necessary and sufficient condition of the stability of linear nonautonomous system the frequently-acting perturbation has been given and proved on the basis of [1] and[2] and the theorem of the equivalence on the uniform and asymptotical stability in the sense of Lispunov and the stability under the frequently-acting perturbation of linear nonautonomous system has been given in this paper. Besides, the analysis of the dynamic stability of robot has been presented by applying the theorem in this paper, which is closer to reality.

关 键 词：非定常系统 稳定性 机器人 干扰 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]