Based on ideal trajectory calculation, characteristic points are chosen. On each point, plant is simplified as a second order one.
在理想弹道计算的基础上选取特征点，在每个特征点，将对象简化为一个二阶环节来近似。
So an adaptive feed forward control method is proposed, this method basing on robot dynamics adopts ideal trajectory on workspace to control robot, its stability is analyzed.
因此本文根据机器人动力学模型的性质设计了一种利用机器人工作空间理想轨迹控制的自适应前馈控制方法，并对自适应控制下系统的稳定性进行了分析。
In order to enter into the ideal trajectory with minimal energy, the nonlinear thrust vector control and the prediction guidance are adopted in the missile guidance control system.
为使飞行器能在主动段很快地进入到理想弹道上，系统采用了非线性的推力向量控制及预测制导方法。
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