Advertisement
Not a member of Pastebin yet?
Sign Up,
it unlocks many cool features!
- function y = fcn(cq,dq,x,v)
- y=0;
- m=0.109;
- l=0.25;
- g=9.8;
- max=6;
- xmax=0.6;
- vmax=4;
- % *******************************************
- %能量控制策略
- E=(2/3)*m*(l^2)*(dq)^2+m*g*l*(cq -1);
- if (dq*cq>=0)
- ue=-4.4*(E-0.21*m*g*l);
- else
- ue=4.4*(E-0.21*m*g*l);
- end
- % *******************************************
- %小车位移极限
- ucw = 0;
- ucw = 3*sign(x)*log(abs(1-abs(x)/xmax));
- % *******************************************
- %小车速度极限
- uvw = 0;
- uvw = 3*sign(v)*log(abs(1-abs(v)/vmax));
- % *******************************************
- %系统能量保持
- uem = 0;
- uem =-7*(exp(abs(E))-1)*sign(E)*sign(dq*cq);
- % *******************************************
- y=ue+uem+uvw+ucw;
- if y<-max
- y=-max;
- elseif y>max
- y=max;
- end
- end
Advertisement
Add Comment
Please, Sign In to add comment
Advertisement