非定常线性系统在经常作用干扰下的稳定性定理及其在机器人动态稳定性分析中的应用

本文在文献1]、2]的基础上,给出并证明了非定常线性系统在经常作用干扰下稳定的充分和必要条件,并推得该系统在李雅普诺夫意义下一致渐近稳定和在经常作用干扰下稳定等价的定理.此外,作者还应用文中的定理,对机器人动态稳定性进行了比较切合实际的分析.

The Theorem of the Stability of Linear Nonautonomous Systems under the Frequently-Acting Perturbation and Its Application in the Stability Analysis of Robot

The necessary and sufficient condition of the stability of linear nonautonomous system the frequently-acting perturbation has been given and proved on the basis of 1] and2] and the theorem of the equivalence on the uniform and asymptotical stability in the sense of Lispunov and the stability under the frequently-acting perturbation of linear nonautonomous system has been given in this paper. Besides, the analysis of the dynamic stability of robot has been presented by applying the theorem in this paper, which is closer to reality.