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sctc2007_g金虫 (小有名气)
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控制器设计部分程序 已有1人参与
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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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