基于扰动块的柔性臂分布式滚动时域估计

徐晨辉, 俞芳慧, 何德峰

Disturbance-Blocking-Based Distributed Receding Horizon Estimation of Flexible Joint Robots

XU Chenhui, YU Fanghui, HE Defeng

表2 不同算法平均计算时间与均方根误差对比

Tab.2 Comparison of ACTs and RMSEs of different algorithms

算法 传感器1 ACT/s 传感器2 ACT/s 传感器3 ACT/s 传感器4 ACT/s RMSE I 1.0101 1.0272 1.0222 1.0062 0.8318 II 0.4327 0.4382 0.4374 0.4373 0.8318 III 0.3093 0.3072 0.3051 0.3041 0.8318