柔性空间机器人预定义时间自适应滑模控制
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刘宜成,杨迦凌,唐瑞,程靖
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Predefined time adaptive sliding mode control for flexible space robot
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Yicheng LIU,Jialing YANG,Rui TANG,Jing CHENG
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| 表 2 $ {\boldsymbol{q}}\left(0\right)=[0.08,0.08,0.08,0.08,0.08,0.08{]}^{\mathit{{\rm T}}} $时的收敛时间 |
| Tab.2 Convergence time when $ {\boldsymbol{q}}\left(0\right)=[0.08, 0.08, 0.08, 0.08, 0.08, $$ 0.08{]}^{{\rm T}} $ |
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| 关节 | $ {T}_{\text{r1}} $/s | $ {T}_{\text{r2}} $/s | | $ {\varphi }_{1} $ | 0.099 | 0.357 | | $ {\theta }_{1} $ | 0.099 | 0.458 | | $ {\varphi }_{2} $ | 0.099 | 0.357 | | $ {\theta }_{2} $ | 0.099 | 0.694 | | $ {\varphi }_{3} $ | 0.099 | 0.851 | | $ {\theta }_{3} $ | 0.099 | 0.358 |
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