ID 原文 译文
52727 最后，分别与支持向量机(SVM)和遗传算法(GA)优化的BP神经网络(GA-BP)进行了对比研究，通过实验证明了本文方法的优越性。 Finally, the diagnosis results are compared with those of support vector machine(SVM) and BP neural network optimized by genetic algorithm(GA), which proved the superiority of this method by experiments.
52728 为了减小全向移动机器人在运行中所产生的稳态误差，提出了一种具有积分作用的模型预测控制方法，即积分模型预测控制(IMPC)。 In order to reduce the steady-state errors caused by an omnidirectional mobile robot during movement, a model predictive control method with integral function is proposed, which is called integral model predictive control(IMPC).
52729 积分模型预测控制不仅能够保留模型预测控制中预测和优化的功能，并且可以抑制系统稳态误差，从而使控制器具有更好的鲁棒性和跟踪能力。 Integral model predictive control not only preserves the predictive and optimization features of model predictive control, but also suppresses the steady-state error of the system, so that the controller has better robustness and tracking ability.
52730 为了验证积分模型预测控制的先进性，将积分模型预测控制器与传统模型预测控制器进行性能对比， In order to verify the advanced nature of the integral model predictive control, the performance of the integral model predictive controller is compared with the traditional model predictive controller.
52731 采用四差速全向移动机器人作为模拟实验模型，测试了2种控制器在3种不同路径下的轨迹跟踪性能。 The trajectory tracking performance of the two controllers under three different paths is tested using a four-differential omnidirectional moving robot as a simulated experimental model.
52732 测试结果证明，积分模型预测控制器比传统模型预测控制器拥有更好的跟踪性能，验证了所提出方法的有效性和先进性。 The test results prove that the integral model prediction controller has better tracking performance than the traditional model prediction controller, which validates the effectiveness and sophistication of the proposed method.
52733 针对水冷壁爬壁机器人(WWCB)路径跟踪问题，提出一种快速非线性模型预测控制(NMPC)算法。 A fast nonlinear model predictive control( NMPC) algorithm is proposed for water wall climbing robot(WWCB) path tracking.
52734 定义WWCB与虚拟目标的跟踪误差，将跟踪问题转化为Bolza形式的NMPC最优控制问题。 The tracking error between WWCB and virtual target is defined, and the tracking problem is transformed into Bolza form of NMPC optimal control problem.
52735 通过引入半平滑函数，对不等式进行优化处理，构建最优化必要条件。 The semi-smooth function is introduced to optimize the inequality, and the necessary conditions for optimization are constructed.
52736 基于庞特里亚金极小值原理建立广义哈密顿函数，采用连续/广义极小残量算法(C/GMRES)计算求解，并引入多重打靶法提高运算精度。 Based on Pontriagin's minimum principle, the generalized Hamiltonian function is established, and continuous/generalized minimum residual algorithm(C/GMRES) is used to calculate the solution, as well as to improve the calculation accuracy, the multiple shooting method is introduced.