自适应轨迹跟踪算法

代码说明：

说明：  自适应（ self-adaptive）是指处理和分析过程中,根据处理数据的数据特征自动调整处理方法、处理顺序、处理参数、边界条件或约束条件,使其与所处理数据的统计分布特征、结构特征相适应,以取得最佳的处理效果(Self-adaptive refers to the automatic adjustment of processing methods, processing sequence, processing parameters, boundary conditions or constraints according to the data characteristics in the process of processing and analysis, so as to adapt them to the statistical distribution characteristics and structural features of the processed data, so as to achieve the best processing effect.)