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sctc2007_g

金虫 (小有名气)

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注册: 2008-05-24
性别: GG
专业: 控制理论与方法

[交流] 控制器设计部分程序已有1人参与

rou=0.05;
rr=2*rou^2;
Ac=[0,1;0,0];Bc=[0;1];Cc=[1,0];
Kc=[2;1]; Ko=[40;700];
Q1=diag([10,10]); Q2=diag([10,10]);
% P1=lyap((Ac-Bc*Kc')',Q1);P2=lyap((Ac-Ko*Cc)',Q2);
P1=[17.4 2.5;2.5 7.5];
P2=[74 -5;-5 0.46];

e1=u(1);e1_cap=u(2);e2_cap=u(3);
r=sin(t);dr=cos(t);
e_l=e1-e1_cap;
xx1_cap=r-e1_cap;xx2_cap=dr-e2_cap;
if xx1_cap > pi/3
x1_cap = pi/3;
elseif xx1_cap < -pi/3
x1_cap = -pi/3;
else
x1_cap = xx1_cap;
end
if xx2_cap > pi/3
x2_cap = pi/3;
elseif xx2_cap < -pi/3
x2_cap = -pi/3;
else
x2_cap = xx2_cap;
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%             A(x)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
A1 = 1/(1+exp(5*(x1_cap+0.6)));
A2 = exp(-(x1_cap+0.4)^2);
A3 = exp(-(x1_cap+0.2)^2);
A4 = exp(-x1_cap^2);
A5 = exp(-(x1_cap-0.2)^2);
A6 = exp(-(x1_cap-0.4)^2);
A7 = 1/(1+exp(-5*(x1_cap-0.6)));
FA=[A1,A2,A3,A4,A5,A6,A7];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%             B(x)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
B1 = 1/(1+exp(5*(x2_cap+0.6)));
B2 = exp(-(x2_cap+0.4)^2);
B3 = exp(-(x2_cap+0.2)^2);
B4 = exp(-x2_cap^2);
B5 = exp(-(x2_cap-0.2)^2);
B6 = exp(-(x2_cap-0.4)^2);
B7 = 1/(1+exp(-5*(x2_cap-0.6)));
FB=[B1,B2,B3,B4,B5,B6,B7];
syms xx;
a1 = 1/(1+exp(5*(xx+0.6)));
a2 = exp(-(xx+0.4)^2);
a3 = exp(-(xx+0.2)^2);
a4 = exp(-xx^2);
a5 = exp(-(xx-0.2)^2);
a6 = exp(-(xx-0.4)^2);
a7 = 1/(1+exp(-5*(xx-0.6)));
Fa=[a1,a2,a3,a4,a5,a6,a7];
for i=1:7
D(i)=diff(Fa(i),xx);
end
for i=1:7
dA(i)=subs(D(i),xx,x1_cap);
dB(i)=subs(D(i),xx,x2_cap);
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for i=1:7
for j=1:7
      Rn((i-1)*7+j)=FA(i)*FB(j);
end
end
for i=1:7
for j=1:7
      dR((i-1)*7+j)=dA(i)*FB(j)+FA(i)*dB(j);
end
end
R1=dR+2*Rn;
w=R1*x;

ua1=-1/rr*e_l;
us1=-Ko'*P1*[e1_cap;e2_cap];
uc1= w;

sys = uc1- ua1- us1;

出现错误！请大虾指点，谢谢！！！
flag = 3 (output), at time 3.406592199496573. MATLAB error message:
Error using ==> sym/maple
Error, integer too large in context

[ Last edited by sctc2007_g on 2012-4-23 at 22:43 ]

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