During the alternate iteration, an acceleration method called as vector extrapolation was applied to the alternate iteration steps owing to slow convergenceof the algorithm.
在交替迭代过程中，考虑到算法收敛较慢，一种称为向量外推的加速方法被采用。
2
Second, the rate of error convergence may be guaranteed rapidly by setting appropriate angular position, velocity and acceleration feedback gain Matrices;