本文提出了机械手在关节坐标系中的引入积分作用的线性扰动自适应控制和引入重力补偿的模型跟随自适应控制方案。
This paper proposes a linear perturbation adaptive control scheme with integrators and a model following control scheme with gravity compensation for robot manipulators.
利用随机过程及时间序列分析手段，根据用水量序列季节性、趋势性及随机扰动性的特点，建立了用水量预测的自适应组合平滑模型。
Based on random process theory and time series analysis, the paper advanced the adaptive combined smoothing model suiting to seasonality, trend and randomness of water consumption series.
由于纯延迟离散系统仅存在延时的逆模型，因而对该系统进行自适应逆控制时，扰动消除会产生一定的延迟误差。
There only exists delay inversion model in pure-delay discrete system which causes delay error when adaptive inverse control is used for canceling noise.
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