摘要
由一名新闻记者-机器人与机器学习的工作人员新闻编辑每日新闻-关于机器人的新研究是一份报告的主旨。摘要:根据中国人民代表大会山东新闻报道,研究了位置和速度约束在非对称时变范围内的协调机器人的无奇异有限时间自适应最优控制问题,与已有的关于协调控制的结果不同。"通过巧妙地将非线性状态相关函数集成到backstepping设计过程中,放宽了所施加的可行性条件."本研究经费来源于国家自然科学基金(NSFC)。新闻记者从山东科技大学的研究中得到一句话：“其中，所设计的有限时间控制器的典型特点在于应用了改进的平滑切换函数，使所设计的控制器具有足够的能力来消除奇异问题，特别是借助于所构造的最优代价函数和基于新网络的批评体系结构，在backstepping设计框架下建立了最优控制律，从理论上证明了所设计的控制器具有良好的优化和有限时间跟踪能力，同时满足了期望的约束目标。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-New research on Robotics is the subjec t of a report. According to news reporting originating in Shandong, People's Rep ublic of China, by NewsRx journalists, research stated, "This article investigat es the singularity-free finite-time adaptive optimal control problem for coordin ated robots, where the position and velocity are constrained within the asymmetr ic yet time-varying ranges. Different from the existing results concerning const rained control, the imposed feasibility conditions are relaxed by skillfully int egrating a nonlinear state-dependent function into the backstepping design proce dure." Financial support for this research came from National Natural Science Foundatio n of China (NSFC). The news reporters obtained a quote from the research from the Shandong Universi ty of Science and Technology, "Therein, the typical feature of the designed fini te-time controller lies in the application of the modified smooth switching func tion, rendering the designed controller powerful enough to eliminate singularity problem. Notably, with the aid of the constructed optimal cost function and neu ral networkbased critic architecture, the optimal control law is established un der the backstepping design framework. It is theoretically verified that the des igned controller is of satisfied optimization and finite-time tracking ability, and desired constrained objective in the meanwhile."
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