标题：Interval Quadratic Connected Control Systems in Industrial Robotics and Mechatronics

参考译名：工业机器人与机电一体化中的区间二次连接控制系统

简介：Industrial robotic and mechatronic systems in real machinery are quadratically connected dynamical systems with parametric uncertainties, whose mathematical models can be extremely complex. Program motion stabilization of such systems, especially those described in quasi-coordinates, is a topical scientific problem, which does not yet have an acceptable for engineering developments comprehensive solution. The article proposes a possible concept of such a solution, based on the Lyapunov’s direct method, extended to the interval dynamic systems domain with time derivatives of state variables written in the interval cubic forms. The authors conceptual approach is based on new concepts introduced in the article: covering form, form compensator, modular variables form. According to this approach, first of all, the transition to new complex system state variables formed with signatures is carried out. The mathematical apparatus is based on special interval matrix algebra transformations, which could not be included in the article because of the volume, and therefore are only stated. As a result, the authors obtain a new class of quasi-relay type controls with system state dependent modulated impact jumps, and therefore combining the properties of both soft smooth and hard forcing types.

来源：Procedia Computer Science  Volume 150, 2019, Pages 579-585

链接：https://doi.org/10.1016/j.procs.2019.02.096