电机控制下的一类弹性机械手系统的镇定

考察了某一类在电机控制下的机械手系统。为了抑制这类机械手的弹性弯曲振动，设计了一类电机控制，使整个闭环系统描述为一个适当的在Ｈｉｌｂｅｒｔ空间中的抽象发展方程。运用泛函分析及算子半群方法，讨论了相应的发展方程主算子的谱特征及半群性质。最后，证明了所讨论的非线性系统的解指数一致衰减到零，从而保证了弹性机械手的工作姿态到位

The restraint of an elastic mechanical arm system under the control of electrical machinery

An elastic mechanical arm system under the control of electrical machinery is investigated. In order to restrain the bending vibration of mechanical arm, a class of control from electrical machinery is designed, so that the considered system is exponential stable. The considered system can be formulated, as an evolution equation in an appropriate Hilbert Space, and some spectral properties and semigroup properties of the main operator corresponding to the evolution equation are discussed by means of functional analysis and operator semigroup. Finally, an important result, that the energy of the system is exponentially decay, is proved. The elastic forearm may arrive at the arbitrary designated place under designed control.