Using redefinition system output, a model of the flexible manipulator is decomposed into input-output subsystem and zero-dynamics subsystem.
通过重新定义系统的输出，将柔性机械臂的模型分解为输入输出和零动态两个子系统；
Based on the control theory of feedback linearization, the zero dynamics equation for a planar 3r rigid redundant robot was derived.
基于反馈线性化控制理论，推导出了平面3r刚性冗余度机器人的零动态方程。
The main result is that a discrete time minimum phase nonlinear system is stabilizable via dynamic output feedback if its zero dynamics is approximately asymptotically stable.
主要结果是，如果一非线性系统的零动态是逼近渐近稳定的，则能用动态输出反馈镇定。
Valid dynamic sliding mode output that guarantees the system stable zero dynamics was constructed, and a global second order sliding mode control was adopted to circumvent chattering phenomena.
通过构造动态滑模输出，使得系统零动态稳定；采用全局二阶滑模控制来消除抖振。
The predictive control is utilized to damp the flexible vibrations. The instability of the zero dynamics encountered in the inverse dynamics control and I/O feedback linearization can be avoided.
该方法采用预测控制消除柔性机械手的弹性振动，可避免逆动力学和I/O反馈线性化控制遇到的零动力学不稳定问 题。
Under the assumption of stable zero dynamics, the whole system is semi-global asymptotically stable (Semi-GAS).
最后在零动态稳定的假设下，实现了整个系统的半全局渐近稳定。
The concept of the finite time sliding mode is introduced in which the advantage is that the linear dynamics tend to zero in finite time.
引入了有限时间滑动模态的概念，其优点是线性部分的状态在有限时间内趋近于零。
The concept of the finite time sliding mode is introduced in which the advantage is that the linear dynamics tend to zero in finite time.
引入了有限时间滑动模态的概念，其优点是线性部分的状态在有限时间内趋近于零。
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