并利用观测结果通过自适应控制律对异步机系统进行在线调整，提高了系统的抗扰性。
The results are used to adjust the asynchronous motor system throw adaptive control to control law on line to improve resisting interference.
在线性情形，它与最小方差参数自适应控制律一致。
In the linear case, it is the same as the minimum variance parameter adaptive control.
依据在线得到的特征模型参数，实现跟踪前馈控制律与黄金分割自适应反馈控制律相结合的控制器参数的在线调整。
With those identified parameters the tracking controller which consists of the forward tracking law and the golden-section adaptive feedback law is adaptively tuned.
所导出的分散式自适应律可以直接根据低阶子系统设计，其在线计算量也比常规方法少。
The decentralized adaptive control law deduced can be directly designed through the lower-order subsystems, whose on-line computation amount is less than that conventional methods.
对机器人动力学和运动学关系式进行线性参数化，分别对动力学待估参数和运动学待估参数设计在线修正律，在关节空间采用自适应控制。
Kinematics and dynamics can be linearized by a set of combined parameters, the update law of the parameters is designed respectively. Adaptive control is adopted in joint space.
对机器人动力学和运动学关系式进行线性参数化，分别对动力学待估参数和运动学待估参数设计在线修正律，在关节空间采用自适应控制。
Kinematics and dynamics can be linearized by a set of combined parameters, the update law of the parameters is designed respectively. Adaptive control is adopted in joint space.
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