yuanljtest1.m

本人写的利用backstepping算法设计的移动机器人轨迹跟踪控制器matlab源代码

t=0:0.1:100;
n=length(t);
a=1;b=1.5;
l=0.2005;
r=0.097;
e=[];
u=[];
se=[];
se(1)=2*pi/3;
k1=1.5;k2=1.5;ky=25;ks=5.2;
wc=0.2;
ser=[];vc=[];
x=[];y=[];xe=[];ye=[];see=[];
x(1)=1.2;y(1)=-0.3;
w=[];w(1)=0.3;
v=[];v(1)=0.4;
xr=[];yr=[];
p=[];seo=[];vc=0.2;wc=0.2;rc=1;
for i=1:n
    seo(i)=0.1*i*wc;
    ser(i)=pi/2+seo(i);
    xr(i)=rc*cos(seo(i));yr(i)=rc*sin(seo(i));
    se(i+1)=se(i)+0.1*w(i);
    x(i+1)=x(i)+0.1*v(i)*cos(se(i));
y(i+1)=y(i)+0.1*v(i)*sin(se(i));
e=[cos(se(i))*(rc*cos(seo(i))-x(i))+sin(se(i))*(rc*sin(seo(i))-y(i));
    -sin(se(i))*(rc*cos(seo(i))-x(i))+cos(se(i))*(rc*sin(seo(i))-y(i));
    ser(i)-se(i)];
xe(i)=e(1);ye(i)=e(2);see(i)=e(3);
jiaosd=wc+2*vc*ky*ye(i)*cos(see(i)/2)+ks*sin(see(i)/2);
yed=-(wc+2*ky*ye(i)*vc*cos(see(i))+ks*sin(see(i)/2))*xe(i)+vc*sin(see(i));
sed=-2*ky*ye(i)*vc*cos(see(i)/2)-ks*sin(see(i)/2);
jiaosdd=2*ky*vc*yed*cos(see(i)/2)-ky*vc*ye(i)*sin(see(i)/2)*sed+0.5*ks*cos(see(i)/2)*sed;
xiansd=vc*cos(see(i))+k1*sin(atan(jiaosd))*jiaosd*xe(i)-k1*vc*sin(atan(jiaosd))*sin(see(i))+k2*(xe(i)-k1*sin(atan(jiaosd))*ye(i))-k1*cos(atan(jiaosd))*(1/(1+jiaosd^2))*jiaosdd*ye(i);
w(i+1)=jiaosd;v(i+1)=xiansd;
end
figure;
plot(x,y,':k');
hold on;
plot(xr,yr,'r');axis([-1 1.5 -1.1 1.5]);axis equal;h_xlabel=xlabel('x/m');h_ylabel=ylabel('y/m');h_legend=legend('实际轨迹','期望轨迹',1);legend boxoff;
set(h_xlabel,'fontsize',16);set(h_ylabel,'fontsize',16);set(gca,'fontsize',14); set(h_legend,'fontsize',14);
saveas(gcf,'yuanyi','emf');
figure;plot(v(1:20),'r');hold on; plot(w(1:20),'g');
zuob=(1:120);
figure;plot(zuob/10,xr(1:120)-x(1:120),'r');h_xlabel=xlabel('t/s');h_ylabel=ylabel('x_e/m, y_e/m, \theta_e/rad');hold on;plot(zuob/10,yr(1:120)-y(1:120)+0.00247,':k');hold on;plot(zuob/10,see(1:120)+0.01,'--b');
h_legend=legend('x_e','y_e','\theta_e',1);legend boxoff;
set(h_xlabel,'fontsize',16);set(h_ylabel,'fontsize',16);set(gca,'fontsize',14);set(h_legend,'fontsize',14); 
saveas(gcf,'yuaner','emf');