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基于Broyden在线图像雅可比矩阵辨识的视觉伺服 被引量:4
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作者 曾祥进 黄心汉 王敏 《华中科技大学学报(自然科学版)》 EI CAS CSCD 北大核心 2008年第9期17-20,共4页
为了在显微视觉中进行无标定的视觉伺服任务,提出了一种基于切比雪夫多项式构成成本函数的Broyden图像雅可比矩阵估计方法.比较了由递归最小二乘算法构成成本函数和由切比雪夫多项式算法构成成本函数的特点,在不依赖先验知识的情况下,... 为了在显微视觉中进行无标定的视觉伺服任务,提出了一种基于切比雪夫多项式构成成本函数的Broyden图像雅可比矩阵估计方法.比较了由递归最小二乘算法构成成本函数和由切比雪夫多项式算法构成成本函数的特点,在不依赖先验知识的情况下,切比雪夫多项式算法构成成本函数的Broyden图像雅可比矩阵估计方法有较好的收敛速度和系统性能.对多个微小目标物体和末端执行器应用了模糊C均值聚类进行分类与识别,然后根据得到的图像雅可比矩阵辨识器,在显微视觉环境下进行了微小物体的跟踪实验,仿真和实验验证了算法的有效性和可行性. 展开更多
关键词 无标定显微视觉伺服 图像雅可比矩阵 BROYDEN方法 切比雪夫多项式算法 递归最小二乘算法
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Nonlinear System Identification Using Methods for Subspace
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作者 Santos Demetrio Miranda Borjas, Claudio Garcia David Zavaleta Villanueva 《Journal of Mechanics Engineering and Automation》 2014年第11期873-877,共5页
The identification of Wiener systems has been an active research topic for years. A Wiener system is a series connection of a linear dynamic system followed by a static nonlinearity. The difficulty in obtaining a repr... The identification of Wiener systems has been an active research topic for years. A Wiener system is a series connection of a linear dynamic system followed by a static nonlinearity. The difficulty in obtaining a representation of the Wiener model is the need to estimate the nonlinear function from the input and output data, without the intermediate signal availability. This paper presents a methodology for the nonlinear system identification of a Wiener type model, using methods for subspaces and polynomials of Chebyshev. The subspace methods used are MOESP (multivariable output-error state space) and N4SID (numerical algorithms for subspace state space system identification). A simulated example is presented to compare the performance of these algorithms. 展开更多
关键词 System identification structure of wiener subspace identification
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