資源簡介
基于backstepping的軌跡跟蹤控制器的設計,利用matlab進行仿真,對于軌跡跟蹤有參考價值
代碼片段和文件信息
t=0:0.1:100;
n=length(t);
a=1;b=1.5;
l=0.2005;
r=0.097;
e=[];
u=[];
se=[];
se(1)=pi*3/4;
k1=0.01;k2=0.01;ky=1.5;ks=15.2;
ser=[];vc=[];
x=[];y=[];xe=[];ye=[];see=[];
x(1)=1.2;y(1)=0.8;
w=[];w(1)=0.3;
v=[];v(1)=0.4;
xr=[];yr=[];yr(1)=0;xr(1)=1;ser(1)=pi/2;
p=[];seo=[];
for?i=1:n
????vc=2.5-2*i*0.1/(0.1*i+5);wc=1+0.2*i/(0.1*i+5);
????vcd=-0.2*((0.1*i+5)^(-1))+0.02*i*((0.1*i+5)^(-2));
????wcd=0.2*((0.1*i+5)^(-1))-0.02*i*((0.1*i+5)^(-2));rc=0.2;
????ser(i+1)=ser(i)+wc*0.1;
????xr(i+1)=xr(i)+0.1*vc*cos(ser(i+1));yr(i+1)=yr(i)+0.1*vc*sin(ser(i+1));
????se(i+1)=se(i)+0.1*w(i);
????x(i+1)=x(i)+0.1*v(i)*cos(se(i));
y(i+1)=y(i)+0.1*v(i)*sin(se(i));
e=[cos(se(i))*(xr(i)-x(i))+sin(se(i))*(yr(i)-y(i));
????-sin(se(i))*(xr(i)-x(i))+cos(se(i))*(yr(i)-y(i));
????ser(i)-se(i)];
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????1355??2008-01-13?16:51??tuoyuan2lj.m
?????文件???????1994??2008-03-20?08:13??yuanljtest1.m
?????文件???????1963??2008-03-20?08:13??zhixianljtest1.m
?????文件???????2193??2008-03-26?11:33??renyilj.m
?????文件????????218??2007-06-05?03:14??www.pudn.com.txt
-----------?---------??----------?-----??----
?????????????????7723????????????????????5
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