Chapter three provided the mathematical model of robotic dynamics and motion and discussed the controllability of the robot running characters through the information matrix. 通过信息矩阵的方法分析了机器人的运动参数可控性,从而为下章的机器人的运行速度控制和其他控制了提供数学基础。
Eigenvalues, participation factors, and mode shapes can reveal the unstable mode of disturbance. And the mode controllability matrix and mode observability matrix can identify the most sensitive sites of control input and observation signal for the unstable mode. 采用特征分析,根据特征值、参与因子和模态揭示故障失稳模式,并根据模式能控性和能观性矩阵找出最灵敏的控制输入和观测信号的地点,以控制和检测失稳模式。
This paper describes the test of the method of identifying the group of coherent generators based on the controllability Grammian matrix. 本文首次检验了根据模型的可达性格纳姆矩阵识别相关发电机群的方法。
In order to research the structure properties of RLC network over F ( z), it is necessary to build state equations, and then use them to analyze the controllability ( observability) with symbolic matrix operation. 在研究多元有理函数域F(z)上RLC电网络的结构性质时,要建立其状态方程和能控(观)性矩阵,就要用到符号矩阵的运算。
Controllability and Reachability of a Class of Linear Switched Systems with the Same Input Matrix 输入矩阵定常的切换线性系统的能控性和能达性
Moreover, the parameters of state transfer matrix and controllability matrix of the closed-loop system are computed when solving the Riccati equation. 此外在求解方程的同时还可计算闭环系统的状态转移矩阵和可控性矩阵等系统设计和仿真中的参数。
Based on the principle that the distance of controllability matrix eigenvalue to origin indicates the relative controllability of a system, a method for calculating the minimal module eigenvalue of controllability matrix to select the optimal link group for triple inverted-pendulum is proposed. 基于系统能控矩阵特征根距离原点的位置反映系统能控性大小的原理,提出一种通过计算系统能控矩阵最小模特征根来确定三级倒立摆最优摆长组合的方法。
During the research, the vector described the information from the leaders to the followers is extended to a matrix. The main result of the controllability of the systems is derived according to the matrix theory and classical control theory. 推理过程中,将模型中leader对follower作用的向量扩展到矩阵,通过矩阵理论及经典的控制理论,得到系统能控的条件。
This paper studies the controllability of a series of discrete-time multi-agent systems based on existing research results, using modern control theory, matrix theory, algebra, graph theory and other theories and methods. 本文是在前人研究成果基础之上利用现代控制理论、矩阵理论、代数理论、图论等理论和方法对一类离散型多智能体的能控性展开深入、细致的研究。
In detail, the chained system is divided into a scalar subsystem and a ( n-1)-dimensional LTV subsystem, then the controllability of the LTV subsystem which has a time-varying function system matrix is proved. 首先将n维链式系统分解成一个标量子系统和一个n?1维线性时变子系统,证明了一定条件下该时变子系统的能控性。