连续反馈 meaning in Chinese

series feedback

A new robust adaptive scheme which are used for tracking of this robot with parametric and bounded external uncertainties is proposed in this thesis . the controller is consist of a controller which is proposed by slotine1 ' 1 and nonlinear continued feedback compensation part . by estimating the unknown physical parameters of robot on - line , it can eliminate the effects result by parameters and external disturbances and guarantee gas and uniform boundedness of parametric estimation . the only information required in setting up the strategy is the output states of jionts , while the inversion of the inertia matrix or estimation the bound of the inertia matrix and measure the jionts accelerations are not needed . it is shown by simulations that the proposed control scheme has quicker convergence velocity and better control precision than paper [ 1 ] and control schemes at present
针对该模型具有参数及有界外部扰动不确定性时提出了一种新的鲁棒自适应控制策略，控制器由基于slotine的控制器和非线性连续反馈补偿控制器构成。通过在线估计机器人的未知物理参数，有效的消除了由参数及外部扰动所引起的不确定性影响，保证系统达到渐近稳定和参数估计一致有界。与现存的许多控制方法相比，该控制策略不需求解惯性矩阵的逆或估计惯性矩阵的界，不需测量关节加速度，而唯一需要了解的只是系统输出的位置及速度状态。