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Modified Newton Integration Algorithm With Noise Tolerance Applied to Robotics
Fu, Dongyang1,2,3; Huang, Haoen1,2,3; Wei, Lin4,5; Xiao, Xiuchun1,2,3; Jin, Long4,5; Liao, Shan6; Fan, Jialiang4,5; Xie, Zhengtai4,5
2021-01-20
摘要Currently, the Newton-Raphson iterative algorithm has been extensively employed in the fields of basic research and engineering. However, when noise components exist in a system, its performance is largely affected. To remedy shortcomings that the conventional computing methods have encountered in a noisy workspace, a novel modified Newton integration (MNI) algorithm is proposed in this article. In addition, the steady-state error of the proposed MNI algorithm is smaller than that of the Newton-Raphson algorithm under a noise-free or noisy workspace. To lay the foundations for the corresponding theoretical analyses, the proposed MNI algorithm is first converted into a homogeneous linear equation with a residual term. Then, the related theoretical analyses are carried out, which indicate that the MNI algorithm possesses noise-tolerance ability under various noisy environments. Finally, multiple computer simulations and physical experiments on robot control applications are performed to verify the feasibility and advantage of the proposed MNI algorithm.
关键词Mathematical model Heuristic algorithms Oceans Noise measurement Iterative algorithms Education Technological innovation Dynamic system of linear equations modified Newton integration (MNI) algorithm noise tolerance steady-state error
DOI10.1109/TSMC.2021.3049386
发表期刊IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
ISSN2168-2216
页码11
通讯作者Jin, Long(jinlongsysu@foxmail.com)
收录类别SCI
WOS记录号WOS:000732097300001
语种英语