对比轨迹跟踪性能时，加入能耗指标能更真实反映系统努力程度。
Energy-Aware Performance Evaluation of Nonlinear Mechatronic Systems Under Matched-Tracking Conditions
- 引入能量感知评估框架，融合跟踪误差与累计能耗
- 非线性系统在相同跟踪精度下能耗显著更高
- 适合关注能效的机电系统设计与优化研究者
轨迹跟踪指标如均方根误差（RMSE）、超调量和调节时间广泛用于评价机电系统的控制性能。然而，这些指标仅描述输出跟踪效果，未考虑实现运动所需的执行器努力。这一局限在依赖状态的非线性系统中尤为突出，其刚度和阻尼随系统状态变化。本文研究了在相似跟踪条件下，非线性特性对执行器能耗的影响。提出一种能量感知评估框架，结合跟踪误差与累积执行器能耗，实现近似匹配性能系统的比较。采用简单综合指数（EAPI）将两者统一为单一度量。在比例-微分（PD）控制下对线性和非线性系统的仿真结果表明，相近的跟踪精度可能对应显著不同的执行器能耗。非线性系统在所有匹配工况点上均需更高能耗，反映出非线性刚度与摩擦的影响。结果表明，仅依赖轨迹指标可能无法充分揭示系统努力差异，纳入能耗可提供更全面的性能评估依据。
原文摘要 · Abstract (English)
Trajectory-tracking metrics such as root-mean-square error (RMSE), overshoot, and settling time are widely used to evaluate control performance in mechatronic systems. However, these measures describe output tracking alone and do not account for the actuator effort required to produce the observed motion. This limitation becomes more pronounced in nonlinear systems, where stiffness and dissipation depend on the system state. This paper examines how these effects influence actuator energy under similar tracking conditions. An energy-aware evaluation framework is introduced that combines tracking error with cumulative actuator energy and enables comparison between systems with approximately matched performance. A simple index (EAPI) is used to capture both aspects in a single measure. Simulation results for linear and nonlinear systems under proportional-derivative control show that comparable tracking accuracy can correspond to significantly different actuator energy. The nonlinear system consistently requires more energy across matched operating points, reflecting the influence of nonlinear stiffness and friction. These results suggest that trajectory-based metrics alone may not fully capture differences in system effort, and that including energy provides a more informative basis for performance evaluation.
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