The expressions for correlation functions, power spectrum and correlation time of the intensity of a single-mode laser driven by two white noises with a exponential function correlation form were calculated by linear approximation method 應(yīng)用線性近似方法,計(jì)算了具有指數(shù)形式關(guān)聯(lián)的兩白噪聲驅(qū)動(dòng)下單模激光光強(qiáng)的關(guān)聯(lián)函數(shù)、功率譜及關(guān)聯(lián)時(shí)間。
In order to obtain an optimal estimate of the tilt angle and angle velocity, an indirect kalman filter configuration combining a rate gyroscope sensor and an accelerometer is implemented . because of the extreme nonlinearity of the two-wheeled self-balancing robot, application feasibility of nonlinear system control strategy based on linear approximation method, exact linearization and intelligent control have been investigated . according to robustness, balancing performance and environment adaptability, robust tracking control, linear quadratic regulator and fuzzy model reference learning control are implemented to the velocity controller 針對(duì)具有強(qiáng)非線性的前進(jìn)子系統(tǒng),論證了基于近似線性化、精確線性化及智能控制的非線性系統(tǒng)控制策略的應(yīng)用可行性,據(jù)此按照不同性能要求設(shè)計(jì)了三種前進(jìn)速度控制器:漸近跟蹤魯棒調(diào)節(jié)器簡(jiǎn)單精確,具有良好的干擾抑制能力;二次型最優(yōu)跟蹤控制器,在耗能最小的條件下,大大提高系統(tǒng)的平衡能力;而基于動(dòng)態(tài)聚焦學(xué)習(xí)的模糊模型參考學(xué)習(xí)控制則兼具平衡性能好、環(huán)境適應(yīng)性強(qiáng)、精度高及魯棒性好的優(yōu)點(diǎn)。