| Acknowledgements | 第9-10页 |
| 摘要 | 第10-12页 |
| Abstract | 第12-13页 |
| Chapter 1 Preface | 第18-28页 |
| 1.1 Foreword | 第18页 |
| 1.2 Dynamics modeling and analysis of mechanical systems | 第18-21页 |
| 1.3 Motion control of constrained mechanical systems | 第21-22页 |
| 1.4 System uncertainty and its description | 第22-23页 |
| 1.5 Research origination and outline | 第23-25页 |
| 1.6 Significance and main contents of this paper | 第25-28页 |
| Chapter 2 Analytical dynamics theory for constrained system | 第28-44页 |
| 2.1 The vector-matrix notation | 第28-31页 |
| 2.2 Generalized inverse of matrix | 第31-33页 |
| 2.3 Constraints | 第33-39页 |
| 2.4 Udwadia-Kalaba fundamental equation | 第39-40页 |
| 2.5 Leitmann's inverse theory | 第40-43页 |
| 2.6 Conclusions | 第43-44页 |
| Chapter 3 Dynamics modeling and analysis of the Brachistochrone-Bolza with Coulombfriction | 第44-66页 |
| 3.1 Introduction | 第44-45页 |
| 3.2 Mathematical model of the classical Brachistochrone problem | 第45-46页 |
| 3.3 Closed-form Motion of the Brachistochrone curve with Coulomb friction | 第46-51页 |
| 3.4 Minimization analysis of the Brachistochrone | 第51-57页 |
| 3.5 Closed-form Brachistochrone curve with Coulomb friction | 第57-64页 |
| 3.6 Conclusions | 第64-66页 |
| Chapter 4 High-order adaptive robust control for uncertain mechanical systems | 第66-90页 |
| 4.1 Introduction | 第66-67页 |
| 4.2 Mechanical system and constraint | 第67-69页 |
| 4.3 Constraint force when uncertainty is known | 第69页 |
| 4.4 High-order adaptive robust control design | 第69-75页 |
| 4.5 Performance analyses | 第75-80页 |
| 4.6 Illustrative example | 第80-89页 |
| 4.7 Conclusions | 第89-90页 |
| Chapter 5 Adaptive-adaptive robust control for mechanical systems: both system uncertain-ty and design uncertainty considered | 第90-116页 |
| 5.1 Introduction | 第90-91页 |
| 5.2 Constrained mechanical system with uncertainty | 第91-93页 |
| 5.3 Constraint force with known uncertainty | 第93页 |
| 5.4 Adaptive-adaptive robust control design Ⅰ: leakage-type | 第93-102页 |
| 5.5 Adaptive-adaptive robust control design Ⅱ: dead-zone type | 第102-106页 |
| 5.6 Illustrative example | 第106-113页 |
| 5.7 Conclusions | 第113-116页 |
| Chapter 6 Optimal robust control for fuzzy mechanical systems | 第116-142页 |
| 6.1 Introduction | 第116-117页 |
| 6.2 Fuzzy preliminaries | 第117-119页 |
| 6.3 Constrained mechanical system with uncertainty | 第119-120页 |
| 6.4 Constraint force when uncertainty is unconsidered | 第120-121页 |
| 6.5 Robust control design | 第121-126页 |
| 6.6 Special cases | 第126-128页 |
| 6.7 Optimal parameter design | 第128-133页 |
| 6.8 Illustrative example | 第133-141页 |
| 6.9 Conclusions | 第141-142页 |
| Chapter 7 Conclusions and future work | 第142-146页 |
| 7.1 Dissertation summary | 第142-143页 |
| 7.2 Innovations | 第143-144页 |
| 7.3 Prospect | 第144-146页 |
| Bibliography | 第146-154页 |
| Publications | 第154页 |
| Project and funding | 第154页 |
