Đang chuẩn bị nút TẢI XUỐNG, xin hãy chờ
Tải xuống
Tham khảo tài liệu 'feedback.control.for.a.path.following.robotic.car part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Patricia Mellodge Appendix 90 th theta_p_hat i d back i x2_hat -c1 d tan th -c 1-d c 1 sin th 2 cos th 2 1-d c 2 tan phi0 L cos th x3_hat 1-d c tan th x4_hat d X2_hat i x2_hat X3_hat i x3_hat X4_hat i x4_hat determine plant input u2 LateralController x2 x3 x4 u1 actual error u2 LateralController x2_hat x3_hat x4_hat u1 discretized error U1 i u1 U2 i u2 transform the control inputs th theta_p i actual error th theta_p_hat i discretized error dxds -c2 d tan th - c1 2 d c c1 1 sin th sin th cos th cos th - 2 1-d c d c1 tan phi0 L cos th 3 dxdd c c 1 sin th sin th cos th cos th 2 c 1-d c tan phi0 L cos th 3 dxdtheta -c 1-d c 4 tan th cos th 2 3 1-d c 2 tan phi0 tan th L cos th 3 alpha1 dxds dxdd 1-d c tan th dxdtheta tan phi0 1-d c L cos th -c alpha2 L cos theta_p i 3 cos phi0 2 1-d c 2 v1 1-d c u1 cos theta_p i v2 alpha2 u2-alpha1 u1 if v2 pi 2 T v2 pi 2 T end if v2 -pi 2 T v2 -pi 2 T end V1 i v1 V2 i v2 update car dynamics t_sim state output sim dynamics 0 T returns vectors x y theta phi x0 x length x y0 y length y theta0 theta length theta phi0 phi length phi while theta0 pi theta0 theta0-2 pi end while theta0 -pi theta0 theta0 2 pi end X i x0 PHI PHI phi0 phi_s phi_s 2 samples phi_s phi_s phi0 niph i v1 1000 0.62137 3600 10 update animation locate car x0 y0 0 turn car z theta0-theta0_prev 180 pi turn car.tire_fl z phi0-phi0_prev 180 pi turn car.tire_fr z phi0-phi0_prev 180 pi theta0_prev theta0 phi0_prev phi0 prev_front front i prev_back back i Patricia Mellodge Appendix 91 M i getframe end B.2 init.m init.m This subprogram initializes all car and road parameters. Constants L 10 2.54 100 distance between rear wheel and front wheel m W 6.5 2.54 100 space between wheels m H 2.5 2.54 100 2 height m D 2.5 2.54 100 diameter of wheels m F 1.25 2.54 100 width of front wheels m R 2 2.54 100 width of rear wheels m FB_w 2.5 2.54 100 front bumper width m RB_w 2.5 2.54 100 rear bumper width m sensors 12 number of sensors in a bumper spacing 0.2 2.54 100 spacing between sensors
