function?aaaaaaa=under_robot（）

clc;
clear?all
%global?S_0
global?W
W=rand（56）/10;
yW=rand（405）/10;yc=rand（4034）/10;yB=rand（4034）/10+1;?%40?rule?numbers?and?34?input?variable
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%系統調節參數%%%%%%%%%%%%%%%%%%%%%%%%%
?%---------------------------------系統初始值--------------------------%
Tmax=10;t=0;?h=0.01;????%仿真時間
????%會出現奇異問題。該怎么解決。%該控制器可能存在奇異問題。如何解決呢？能否和非奇異terminal?結合起來呢。
x10=[0.5;0.5;4;4;4;4;zeros（61）];????%初角度和初始角速度
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%程序仿需要參數%%%%%%%%%%%%%%%%%%%%
?????n=1;???u=0;
%--------------------------------主程序-------------------------------%
?while?t<=Tmax???????
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%四階龍格計算%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%?????
?[udXdyWdycdyB]=derives（tx10yWycyBu）;
???????m1=h*dX;?t=t+0.5*h;X=x10+0.5*m1;??
???????n1=h*dyW;??????????YW=yW+0.5*n1;??
???????o1=h*dyc;??????????Yc=yc+0.5*o1;
???????p1=h*dyB;??????????YB=yB+0.5*p1;?????????
????[udXdyWdycdyB]=derives（tXYWYcYBu）;
???????m2=h*dX;???????????X=x10+0.5*m2;??
???????n2=h*dyW;??????????YW=yW+0.5*n2;??
???????o2=h*dyc;??????????Yc=yc+0.5*o2;
???????p2=h*dyB;??????????YB=yB+0.5*p2;???????
????[udXdyWdycdyB]=derives（tXYWYcYBu）;
???????m3=h*dX;?t=t+0.5*h;?X=x10+m3;?
???????n3=h*dyW;??????????YW=yW+0.5*n3;??
???????o3=h*dyc;??????????Yc=yc+0.5*o3;
???????p3=h*dyB;??????????YB=yB+0.5*p3;???????
????[udXdyWdycdyB]=derives（tXYWYcYBu）;????
????m4=h*dX;?????n4=h*dyW;????o4=h*dyc;??p4=h*dyB;
?????x10=x10+（1/6）*（m1+2*m2+2*m3+m4）;?
?????yW=yW+（1/6）*（n1+2*n2+2*n3+n4）;?
?????yc=yc+（1/6）*（o1+2*o2+2*o3+o4）;
?????yB=yB+（1/6）*（p1+2*p2+2*p3+p4）;??
?????
??%%%%%%%%%%%%%%%%%%%%%%保存結果%%%%%%%%%%%%%%%%%%%%%???
?????YY（:n）=x10（1:end:）;time（n）=t;?UU（:n）=u;????n=n+1;?
?????
?end?
??%%%%%%%%%%%%%%%%%%%%%%%ploting%%%%%%%%%%%%%%%%%%%%%
????t=time;
??R1=2*sin（t）;R2=2*sin（2*t）;R3=2*sin（4*t）;R4=10*sin（0.25*t）;R5=10*sin（0.5*t）;R6=2*sin（2*t）;
??
??
???figure（1）?;?plot（timeR1‘b‘timeYY（1:）‘r‘）;grid?on?;legend（‘x?positon‘）??
??figure（2）;??plot（timeR2‘b‘timeYY（2:）‘r‘）;grid?on?;?legend（‘y?positon‘）??
??figure（3）;??plot（timeR3‘b‘timeYY（3:）‘r‘）;grid?on??;legend（‘z?positon‘）???
????figure（4）?;?plot（timeR4‘b‘timeYY（4:）‘r‘）;grid?on???;legend（‘pitch?angle?speed‘）??
??figure（5）;??plot（timeR5‘b‘timeYY（5:）‘r‘）;grid?on???;legend（‘roll?angle?speed‘）??
??figure（6）;??plot（timeR6‘b‘timeYY（6:）‘r‘）;grid?on???;legend（‘yaw?angle?speed‘）??

??figure（7）;?plot（timeUU（1:））;grid?on
?figure（8）;?plot（timeUU（2:）‘b‘）;grid?on
??figure（9）;?plot（timeUU（3:）‘b‘）;grid?on
????figure（10）;?plot（timeUU（4:））;grid?on
?figure（11）;?plot（timeUU（5:）‘b‘）;grid?on
??figure（12）;?plot（timeUU（6:）‘b‘）;grid?on
??
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%--子函數----%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function?????[udXdyWdycdyB]=derives（tXXYWYcYBu）
expa

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????13188??2013-01-23?09:16??under_robot.m

-----------?---------??----------?-----??----

????????????????13188????????????????????1