机器人控制器的变结构控制方法实验研究

本文在一直接驱动机器人上 ,针对变结构控制几种削弱或消除抖振的方法进行了物理实验研究 ,并据此给出了一些比较结果

This paper describes the tremble weakening or deleting approaches to the variable construction for the robot controllor. A physical experimental study of these approaches has been carried out. Finally, some comparative results have been given based on this.