详细论述了轨迹跟踪控制器和约 束预测控制器的设计原理。
The constrained predictive controller with consideration of the physical constraints can provide an optimal reference trajectory for tracking controllers.
本文主要针对非完整移动机器人进行运动学和动力学建模、分析与轨迹跟踪控制器设计的研究。
Analysis, kinematic and dynamical modeling and trajectory tracking controller designing for a mobile robot are studied in this thesis.
文章试图结合模糊控制和滑模变结构控制的优点，设计一种新的对角型模糊变结构轨迹跟踪控制器。
A new diagonal fuzzy variable structure contrail tracker is designed to combine the virtues of fuzzy control with that of sliding-mode variable structure control.
研究了非完整移动机器人动力学模型中带有参数不确定和控制受限的鲁棒轨迹跟踪控制器的设计问题。
Designing of robust trajectory tracking controller for mobile robots with parametric uncertainties in the dynamic model and with bounded input is investigated.
本文最后设计了直升机模糊pd轨迹跟踪控制器，与姿态角控制器相结合，完成对整个飞行控制系统的设计。
Finally, the dissertation designed the fuzzy PD controller of trajectory tracking, which is combined with attitude Angle controller, so that the whole flight controller is completed.
采用动态对角回归神经网络作为辨识器和控制器，实现了机器人轨迹跟踪的最小误差控制。
Using dynamic recurrent neural networks as identification and controller, the minimum error control of robot tracking the idea locus is implemented.
而约束预测控制器则在考虑机械臂物理约束的情况下，为跟踪控制器提供最优参考轨迹。
The constrained predictive controller with consideration of the physical constraints can provide an optimal reference trajectory for tracking controllers.
首先，分析一类两轮移动机器人的运动学模型和动力学模型，针对其轨迹跟踪控制问题，设计滑模控制器。
Firstly, a kind of kinematics model of two-wheel driven mobile robot is analyzed. Aimed at its trajectory tracking control problem, the sliding-mode controller is designed.
试验结果表明应用神经pid控制器能够有效地跟踪关节的运动轨迹，是适合这种关节的控制器。
Experimental results show that the neural PID controller can efficiently track the movement of the joint and it is an appropriate controller for this kind of joint.
以一实例来说明鲁棒跟踪控制器具体的设计方法，给出该不确定系统鲁棒跟踪控制器的参数及系统的跟踪轨迹曲线。
An example is given to illustrate the design step. Also the parameters of robust optimal tracking controller and the tracking curve are presented.
提出一种模糊神经网络控制器并用于机器人轨迹跟踪控制。
A fuzzy neural network is proposed for robot tracking control.
提出一种模糊神经网络控制器并用于机器人轨迹跟踪控制。
A fuzzy neural network was proposed for robotic tracking control.
基于线性系统的特征结构配置和模型参考理论提出一种卫星轨迹跟踪控制的参数化方法，设计系统的反馈镇定控制器和前馈跟踪控制器。
A parametric approach is proposed for the satellite trajectory tracking problem by using the eigenstructure assignment theory and the model reference theory of linear systems.
提出了一种包含运动学控制器和速度控制器的分层控制方案来解决机器人轨迹跟踪控制中的复杂计算问题。
A hierarchical control strategy which includes kinematical controller and velocity controller is presented to solve the problem of complex calculation in robot trajectory tracking control.
以六自由度运动平台为研究对象，分析了平台的运动学和动力学问题，采用了CMAC神经网络作为控制器，实现运动轨迹的跟踪。
This paper analyzed the kinematics and dynamics of the 6 DOF platform, and adopted CMAC Neural Networks as controller to realize tailing track.
利用动态模糊神经网络控制器对并联平台的轨迹跟踪控制进行了仿真，结果表明此控制算法具有较好的跟踪性能和较强的鲁棒性。
The proposed DFNN controller was applied on tracking control system of 6-dof parallel platform, and the results show that this method has better tracking performance and robustness.
利用动态模糊神经网络控制器对并联平台的轨迹跟踪控制进行了仿真，结果表明此控制算法具有较好的跟踪性能和较强的鲁棒性。
The proposed DFNN controller was applied on tracking control system of 6-dof parallel platform, and the results show that this method has better tracking performance and robustness.
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