During the alternate iteration, an acceleration method called as vector extrapolation was applied to the alternate iteration steps owing to slow convergence of 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
Compared with the computed torque method, the algorithm can give error convergence bound clearly without acceleration measurement and inverse inertia matrix.
与传统计算力矩法相比，在不要求加速度测量和惯性矩阵求逆的情况下，算法给出清晰的跟踪误差收敛域。
3
Second, the rate of error convergence may be guaranteed rapidly by setting appropriate angular position, velocity and acceleration feedback gain Matrices;