柔性关节空间双臂机器人奇异摄动增广鲁棒自适应PD复合控制
陈志勇,陈 力
Singular perturbation augmented robust adaptive PD composite control for flexible-joint dual-arm space robot
CHEN Zhi-yong,CHEN Li
振动与冲击 . 2015, (16): 79 -84 .