详细信息
Asymptotic sampling behavior for a class of nonlinear robot systems in multirate case ( CPCI-S收录 EI收录)
文献类型：会议论文
英文题名：Asymptotic sampling behavior for a class of nonlinear robot systems in multirate case
第一作者：曾诚
通信作者：Zeng, C[1];Zeng, C[2]|[14440ecadca9d1bad462b]曾诚;[144405c321a0c37f81ffa]曾诚;
机构：[1]GuiZhou Inst Technol, Sch Sci, Guiyang 550000, Guizhou, Peoples R China;[2]Special Key Lab Artifificial Intelligence & Intel, Guiyang 550000, Guizhou, Peoples R China
第一机构：贵州理工学院理学院
通信机构：corresponding author), GuiZhou Inst Technol, Sch Sci, Guiyang 550000, Guizhou, Peoples R China;corresponding author), Special Key Lab Artifificial Intelligence & Intel, Guiyang 550000, Guizhou, Peoples R China.|贵州理工学院理学院;贵州理工学院;
会议论文集：2024 China Automation Congress
会议日期：NOV 01-03, 2024
会议地点：Qingdao, PEOPLES R CHINA
语种：英文
外文关键词：a new multirate input and hold; polynomial; robot systems; stabilization; nonlinear discrete-time model; zero dynamics
年份：2024
摘要：The manuscript aims the stability of the two degree of freedom robot systems based on the corresponding discrete-time plant, which can generate from the sampling in the case of a new multirate input and hold. Furthermore, the asymptotic expression and stable conditions of discretization robot model and corresponding sampling zero dynamics are also desired. Moreover, the control strategy, of the corresponding robot plant is acquired by using the sampling zero dynamic stable approach.
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