| Abstract | 第9-10页 |
| 摘要 | 第11-13页 |
| Acknowledgements | 第13-15页 |
| Contents | 第15-18页 |
| List of Figures | 第18-21页 |
| Chapter 1 Preface | 第21-31页 |
| 1.1 Foreword | 第21页 |
| 1.2 Research overview | 第21-22页 |
| 1.3 Description manners to system uncertainties | 第22-24页 |
| 1.4 Fundamental equation of constrained system | 第24-25页 |
| 1.5 Control approach for constrained mechanical systems | 第25-26页 |
| 1.6 Second-order constraints and M-P inverse | 第26-27页 |
| 1.7 Research origination and outline | 第27-29页 |
| 1.8 Significance of this paper | 第29-31页 |
| Chapter 2 Robust control of unconstrained mechanical systems: uncertainty bound is known | 第31-51页 |
| 2.1 Introduction | 第31-32页 |
| 2.2 Fundamental properties of the mechanical system | 第32-34页 |
| 2.3 Mechanical systems with uncertainties | 第34-35页 |
| 2.4 The proposed robust controller | 第35-36页 |
| 2.5 Preliminaries of the proposed robust controller | 第36-38页 |
| 2.6 Theoretical proof of the proposed robust controller | 第38-41页 |
| 2.7 Illustrative example of the proposed robust controller | 第41-50页 |
| 2.8 Conclusions | 第50-51页 |
| Chapter 3 A specific optimal robust control approach of unconstrained uncertain me-chanical systems: uncertainty bound is fuzzy | 第51-73页 |
| 3.1 Introduction | 第51页 |
| 3.2 Fuzzy mathematics | 第51-52页 |
| 3.3 Fuzzy mechanical systems | 第52-54页 |
| 3.4 Robust control design of fuzzy mechanical systems | 第54-55页 |
| 3.5 Proof of stability | 第55-59页 |
| 3.6 Optimal gain design | 第59-63页 |
| 3.7 The closed-form solution of optimal gain | 第63-65页 |
| 3.8 Some limiting performance | 第65-66页 |
| 3.9 Illustrative example | 第66-72页 |
| 3.10 Conclusions | 第72-73页 |
| Chapter 4 A general optimal robust control approach of unconstrained uncertain me-chanical systems: uncertainty bound is fuzzy | 第73-97页 |
| 4.1 Introduction | 第73-74页 |
| 4.2 Fuzzy mechanical systems and fundamental properties | 第74-76页 |
| 4.3 Robust control design of fuzzy mechanical systems | 第76-78页 |
| 4.4 Proof of Stability | 第78-82页 |
| 4.5 Optimal gain design | 第82-85页 |
| 4.6 Illustrative example | 第85-95页 |
| 4.7 Conclusions | 第95-97页 |
| Chapter 5 Dynamical Modeling of Constrained Mechanical Systems | 第97-113页 |
| 5.1 Introduction | 第97-98页 |
| 5.2 The general procedure of Udwadia-Kalaba approach | 第98页 |
| 5.3 Detail the Udwadia-Kalaba approach | 第98-101页 |
| 5.4 Remarks on Udwadia-Kalaba eapproach | 第101-102页 |
| 5.5 Illustrated example: falling U-chain | 第102-111页 |
| 5.6 Conclusions | 第111-113页 |
| Chapter 6 Control of Constrained Mechanical Systems: no uncertainty | 第113-137页 |
| 6.1 Introduction | 第113页 |
| 6.2 Constraint-following servo control approach | 第113-116页 |
| 6.3 Discussions of the proposed systematic approach | 第116-118页 |
| 6.4 Two-mass spring system | 第118-120页 |
| 6.5 General procedure to obtain equations of motion of coordinated robots | 第120-122页 |
| 6.6 Detailed process of the proposed approach | 第122-128页 |
| 6.7 Numerical Simulation | 第128-136页 |
| 6.8 Conclusions | 第136-137页 |
| Chapter 7 Robust Control of Constrained Uncertain Mechanical Systems | 第137-157页 |
| 7.1 Introduction | 第137页 |
| 7.2 Constrained mechanical system under uncertainty | 第137-138页 |
| 7.3 Constraint force if uncertainty was known | 第138-139页 |
| 7.4 Robust servo control design | 第139-143页 |
| 7.5 Illustrative example: coordinated robot | 第143-151页 |
| 7.6 Procedure of the proposed systematic LDRC approach for uncertain mechanical systems | 第151-155页 |
| 7.7 Conclusions | 第155-157页 |
| Chapter 8 Conclusions and future work | 第157-161页 |
| 8.1 Dissertation summary | 第157-158页 |
| 8.2 Innovations | 第158-159页 |
| 8.3 Prospect | 第159-161页 |
| Bibliography | 第161-169页 |
| Publications | 第169页 |
| Project and funding | 第169页 |
| Awards | 第169页 |
