(3 ) usually, there are two kinds of unknown external disturbances and / or modeling uncertainties : one in the inertial matrix, and the other in the control matrix (3)剛體姿態(tài)控制系統(tǒng)中一般存在兩類不確定性:慣性矩陣含有的不確定性和控制矩陣含有的不確定性。
in this paper, we for the first time present an adaptive robust attitude controller which is robust to the disturbances and / or uncertaities in both the inertial matrix and the control matrix 本文首次針對(duì)控制矩陣中的不確定性,采用自適應(yīng)控制方法,得到了一種對(duì)上述兩種不確定性都具有魯棒性的自適應(yīng)魯棒控制器。
then an lqocm linear quadratic optimal control model is presented . finally, experiments demonstrate that, for the end-to-end drts whose control matrix-pmb g falls into the stable region, the ic-eat is convergent and stable . moreover, it is capable of providing better qos guarantees for end-to-end aperiodic tasks and improving the system throughput 在這之中,一部分系統(tǒng)常常運(yùn)行于動(dòng)態(tài)與不確定環(huán)境,比如:在一個(gè)自動(dòng)監(jiān)控系統(tǒng)中,被監(jiān)控目標(biāo)數(shù)的動(dòng)態(tài)變化使得系統(tǒng)中任務(wù)的到達(dá)與離開呈現(xiàn)出非周期性此外,任務(wù)的執(zhí)行時(shí)間也隨著系統(tǒng)任務(wù)數(shù)目標(biāo)距控制中心距離的變化而變化。