擬逆陣 的英文怎麼說
中文拼音 [nǐnìzhèn]
擬逆陣
英文
quasi-inverse matrix-
A general stack equation of mobile robot based on analyzing the motion of planar motion object and the mathematical models of four different kinds of common wheels is developed, accordingly, the mobility of mobile robot is addressed and the forward and inverse solutions to speed for specific configuration driven by differential speed are derived. utilizing the muir and newman convention, the description of the posture transformation matrices between different coordinate frames and the solution for the speed of point located on these frames are introduced. according to posture estimation, a more accurate method, dead reckoning algorithm, is developed for a specified configuration characterized by differential speed motorization, and simulations of this algorithm and other traditional methods are carried out using matlab while traversing a circular path
本文對兩輪差速驅動移動機器人的運動學及其本體緩沖設計進行了探討，在對平面運動物體運動分析的基礎上結合四種常用車輪的數學模型，推導出了一個通用的移動機器人堆積方程，在此基礎上分析了移動機器人的移動能力、並針對兩輪差速構型推導了速度正解與逆解；使用muir和newman的運動學建模方法，推導了移動機器人上點及連桿坐標系位姿、速度變換關系矩陣及求解方法；在移動機器人位姿識別方法中結合差速驅動構型對航位推演算法進行了分析：推導了一種理論精度較高的航位推算演算法，並使用matlab對其與傳統的推算演算法在跟蹤圓弧軌跡情況下進行了模擬；最後針對本文所研究的機器人給出了一種比較系統、可靠的緩沖結構設計思路，較好地解決了移動機器人作業過程中外界因素及本身設計中引入的各種不確定誤差問題；本論文研究成果已在本實驗室所開發的樣機上得到實現，經過應用與考核證明其中的分析與設計是切實可行的。3 a novel recursive least - square ( rls ) blind space - time receiver algorithm based on the constrained condition, which can completely avoid the matrix inversion introduced into by constraints ( comparing with the normal rls ), is proposed for multi - path slow fading cdma channels. the computational complexity of this method is not only lower than that of the normal rls, but also lower than that of both lms and ls blind space - time receiver methods that are realized based on the rosen ' s gradient projection. and the speed of convergence of the presented rls blind space - time receiver algorithm is better than that of both lms and ls blind space - time receiver methods
3 、針對多徑慢衰落通道下ds - cdma盲空時接收機中線性約束二次規劃問題提出一種新的遞歸最小二乘演算法，該演算法完全避免因約束而引進的矩陣求逆運算（相對于常規的遞歸最小二乘演算法） ，不但運算量比常規的要低，而且比基於rosen梯度投影實現的最小均方（ lms ）與最小二乘盲空時接收機演算法還低，且收斂速度比基於rosen梯度投影實現的最小均方（ lms ）與最小二乘盲空時多用戶檢測都好，將提出的新的遞歸最小二乘演算法與提出的數據選擇方案結合起來可以進一步降低其運算量，具有很大的實用價值，最後通過模擬實驗進一步分析了其性能。The result of digital simulation illustrate that applying l - d factorization which is famous in matrix theory into federated filter to get the correct result of inverse can not only improve the speed and precision of algorithm hut meliorate its error toleration
經過數字模擬，把矩陣分析中的l - d分解演算法運用到聯邦卡爾曼濾波中的矩陣求逆當中能得到良好的效果，不但運算速度和精度有提高，整個濾波演算法的容錯性也有明顯改善。( 2 ) link coordinates of the manipulator were set up by denavit - hartenberg method. simultaneously, forward kinematics and inverse kinematics was modeled through homogeneous transformation and jacobian matrix was reached as well, which provided the basis for kinematics analysis, simulation and performance optimization
（ 2 ）採用denavit - hartenberg方法設定了番茄收獲機械手桿件坐標系，通過齊次變換建立了正運動學與逆運動學模型，獲得了番茄收獲機械手雅可比矩陣，為機械手運動學分析、模擬與性能優化奠定了理論基礎。The explicit method is widely used for its simpleness and little memory consumed with local time step and variable coefficients implicit residual smooth to accelerate the convergence procedure. according to yoon and jameson ' s ideas, an efficient implicit lu - sgs algorithm is carefully constructed by combing the advantages of lu factorization and symmetric - gauss - seidel technique in such a way to make use the l and u operators scalar diagonal matrices, thus the numeric algorithm requires only scalar inversion. the computational efficiency is greatly improved with this scheme
顯式方法具有簡單，消耗內存小等優點，並採用當地時間步長、變系數隱式殘值光順等加速收斂措施，在定常流動的模擬中得到了廣泛的應用;根據yoon和jameson提出的簡化正、負矩陣分裂，構造的l 、 u運算元只需進行標量對角陣求逆，極大提高了流場數值求解過程的計算效率;採用newton類型的偽時間子迭代技術使時間推進精度提高至二階。This method can guarantee the solution matrix of sylvester equation to be inverse and the sum of the input gain norm and the observer gain norm is the minimum. for the linear systems with unknown parameters, we identify the parameters using hopfield network, then design the observers using the identified parameters, the exponential convergence of adaptive observer is also proved. for the linear time - varying systems, a new network to solve the time - varying sylvester equation is proposed, we analysis it ' s convergence and robustness, then, deign the linear time - varying observer using this network model, and we discuss the convergence of the observer and ruboustness to unknown match parameters
同時保證了sylvester方程的解矩陣的可逆性和觀測器的增益矩陣與輸入矩陣范數的和最小；在設計線性時不變自適應觀測器時，首先利用系統的輸入、輸出數據設計一個hopfield網路參數估計器，進一步設計狀態觀測器，證明了參數估計器和狀態觀測器的指數收斂性；為了仍然從神經優化計算的角度設計線性時變系統的狀態觀測器，最後介紹了一種求解時變sylvester矩陣方程的神經網路模型，分析了它的收斂性和魯棒性，然後利用該網路設計時變狀態觀測器，進一步討論該觀測器的在系統存在未建模不確定和外部噪聲時的魯棒性；最後給出了一種基於分離性原理和hopfield網路觀測器的狀態反饋閉環系統的結構，分析了該閉環系統的特點；對于每一種設計方法都給出了相應的數值模擬例子來進一步表明所提方法的可行性和有效性。分享友人