负载Cartesian柔性臂非线性反馈控制

本文考虑ｘ和ｙ方向水平运动的Ｃａｒｔｅｓｉａｎ机器人控制系统。对末端具有负载的单杆柔性机械臂，我们给出了一个连续的分布参数模型，并提出了一类传感器和控制器并置在根部的非线性反馈控制。运用抽象Ｈｉｌｂｅｒｔ空间非线性算子半群理论，获得整个闭环系统的强渐近稳定。

Nonlinear Feedback Control Arms with Payload

We consider the control systems of x-y Cartesian robots. The system of one-link flexible arm with payload can be described as a continuum distributed parameter model. A class nonlinear feedback control with collocated sensors/actuators is proposed. Under the abstract Hilbert space frame,a nonlinear operator semigroup approach is used to prove the strong asymptotical stability of the close-loop system.