本文選題：預(yù)測 + 遙操作�。� 參考：《機(jī)器人》2017年05期

【摘要】：提出了一套能處理多時(shí)延、多頻率的測量信息和數(shù)據(jù)缺失問題的預(yù)測顯示算法,從而充分利用測量信息和提高預(yù)測精度.首先通過把部分下傳通道時(shí)延"移動"到上傳通道,把預(yù)測顯示問題轉(zhuǎn)化為一個(gè)標(biāo)準(zhǔn)的濾波問題和一個(gè)預(yù)測問題,并采用"觀測器-預(yù)測器"的串聯(lián)結(jié)構(gòu)解決這2個(gè)問題.在觀測器中通過重組織新息分析法把多時(shí)延的測量信息重組成不包含時(shí)延的形式,并借助標(biāo)記函數(shù)來處理異頻和缺失的測量信息.仿真實(shí)驗(yàn)結(jié)果證明了本文預(yù)測顯示算法的有效性.
[Abstract]:A set of prediction and display algorithms which can deal with the problem of missing measurement information and data with multiple time-delay and multi-frequency are proposed in order to make full use of the measurement information and improve the prediction accuracy. First, by "moving" part of the downlink channel delay to the upload channel, the prediction display problem is transformed into a standard filtering problem and a prediction problem, and the series-connected structure of "observer predictor" is used to solve these two problems. In the observer, the measurement information with multiple delays is reorganized into the form without delay by reorganizing the innovation analysis method, and the measurement information with different frequencies and missing information is processed by the label function. Simulation results show the effectiveness of the proposed predictive display algorithm.
【作者單位】： 清華大學(xué)自動化系導(dǎo)航所;清華大學(xué)深圳研究生院;
【基金】：國家自然科學(xué)基金(61673239) 中國博后科學(xué)基金(2016T90102) 深圳市科技計(jì)劃基礎(chǔ)研究項(xiàng)目(JCYJ20160428182227081)
【分類號】：TP242

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