After the receding optimization computation over a finite time interval, the weighted average strategy is introduced in the control law to improve control performance further. 在对未来输入进行有限时域滚动优化计算后,将加权优化的思想应用在控制律的求解当中,使控制效果得到进一步的改善。
But then, during the finite time, we can see the average velocity of deformed soliton is more and more slow. 不过,在经过一定的时间后,还是可以看到,变形孤子的平均速度越来越小。