clear?all;
close?all;
clc;

%?ABS?design?via?perturbation-based?ESC
%?define?the?global?variable
global?mustar?lambdastar?wl?c?k?wh?a?w?m?B?R?I
global?usave?tsave

uxsave=[];?uysave=[];?tsave=[];

%Nonlinear?map?parameters
mustar=0.6;
lambdastar=0.25;
w=3;
wl=0.8;
k=1.5;
wh=0.6;
a=0.01;
c=20;
m=400;
B=0.01;
R=0.3;
I=m*R*R;

%?simulation
t0=0;??%?start?time
t1=6;??%?end?time

%initial?condition?of?the?state?
x0=[33.33400/3.60.100];???

%?solving?the?ode
tspan=[t0?t1];??
[tx]=ode23（‘abs_perturbation_derivatives‘tspanx0）;????
????
for?i=1:length（t）
????idx?=?find（tsave-t（i）==0）;
????u（i）=usave（idx（length（idx）））;
end;

%?trajectory?of?the?states
v=x（:1）;
omega=x（:2）;
lambda0hat=x（:3）;
lambda=（v-R.*omega）./v;

J=2.*mustar.*lambdastar.*lambda./（lambdastar.^2+lambda.^2）;

figure?
plot（tJ‘r‘‘LineWidth‘3）;
xlabel（‘time?（sec）‘‘FontSize‘18‘FontWeight‘‘bold‘）;
ylabel（‘output‘‘FontSize‘18‘FontWeight‘‘bold‘）;
title（‘Friction?Force?Coeffient‘‘FontSize‘18‘FontWeight‘‘bold‘）;
grid?on;??
set（gca‘FontSize‘12‘FontWeight‘‘bold‘）;?
%saveas（gcf‘abs_output_pesc.eps‘‘psc2‘）;



figure?
plot（tlambda‘r‘‘LineWidth‘3）;
xlabel（‘time?（sec）‘‘FontSize‘18‘FontWeight‘‘bold‘）;
ylabel（‘\lambda‘‘FontSize‘18‘FontWeight‘‘bold‘）;
title（‘Slip‘‘FontSize‘18‘FontWeight‘‘bold‘）;
grid?on;??
set（gca‘FontSize‘12‘FontWeight‘‘bold‘）;?
%saveas（gcf‘abs_lambda_pesc.eps‘‘psc2‘）;


figure?
plot（tvtomega‘r‘‘LineWidth‘3）;
xlabel（‘time?（sec）‘‘FontSize‘18‘FontWeight‘‘bold‘）;
ylabel（‘x‘‘FontSize‘18‘FontWeight‘‘bold‘）;
title（‘Linear?Velocity?and?Angular?Velocity‘‘FontSize‘18‘FontWeight‘‘bold‘）;
grid?on;??
legend（‘Linear?Velocity‘‘Angular?Velocity‘）;
set（gca‘FontSize‘12‘FontWeight‘‘bold‘）;?
%saveas（gcf‘abs_state_pesc.eps‘‘psc2‘）;


figure?
plot（tu‘r‘‘LineWidth‘3）;
xlabel（‘time?（sec）‘‘FontSize‘18‘FontWeight‘‘bold‘）;
ylabel（‘u‘‘FontSize‘18‘FontWeight‘‘bold‘）;
title（‘Braking?Torque‘‘FontSize‘18‘FontWeight‘‘bold‘）;
grid?on;??
set（gca‘FontSize‘12‘FontWeight‘‘bold‘）;?
%saveas（gcf‘abs_control_pesc.eps‘‘psc2‘）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件?????????567??2006-03-26?15:33??abs_perturbation_derivatives.m
?????文件????????2166??2006-04-30?20:30??abs_perturbation.m