Robust stability and stabilization for a class of uncertain Lur'e singular delay systems based on non-direction robot

摘要

This paper deals with the problem of the delay-dependant robust stability and stabilization for a class of Lur'e singular system based on the models of kinematic and dynamics of non-direction robot system. The conception ‘non-direction’ is firstly proposed and then the principle of the non-direction robot motion is analyzed. The synthesis problem addressed is to design a memoryless state feedback control law such that the resulting closed-loop system is regular, impulse free and asymptotical stable for all admissible uncertainties. Finally, an illustrative example was given to demonstrate the effectiveness of the presented method.